My impression was that before modern pasteurization and refrigeration, most cultures that drank milk considered it a good idea to heat milk before drinking it and so usually did heat milk before drinking it.
But the question Have Chinese (and surrounding) cultures traditionally heated their milk? suggests that my above impression is mistaken and that traditionally, Europeans drank milk without heating it.
https://www.fda.gov/food/buy-store-serve-safe-food/raw-milk-misconceptions-and-danger-raw-milk-consumption
https://www.nationalgeographic.com/premium/article/raw-milk-safety-health-risks
https://www.cdc.gov/foodsafety/rawmilk/rawmilk-outbreaks.html
– user103496 Oct 12 '23 at 06:32