Hello Victoria:
The use depends. If using a command, as with the Imperative; "Drink your milk!"
That will suffice.
I would say, for example; "Let's drink milk with our pastries, okay?"
I think you have a clear understanding about some or any, as in:
"I do not want any milk." or "Some milk will be fine for me, thank you."
Let me know if you have further questions. Let's sort this all out for you, okay?
.---Warm Regards, Bruce