First, all my milk I buy with the "our farmers pride themselves on not using rBGH hormones" labeling, because the prevalence of that hormone makes me really upset, it has negative effects on the lives of the animals, and farmers who ethically choose to abstain from it really take a financial hit. So I really like to support them.
Typical milk (on cereal, or in cooking) is 2%. If I'm having milk in coffee, or a latte or cafe au lait, I'll use whole milk. (Milked coffees are a rare treat for me, and when you're having a rare treat, you might as well enjoy it fully!)
I use 2% milk to make buttermilk, and whole to make cheeses.
I enjoy the taste of soy milk, but that's a whole different thing, it's not actually dairy.