Advice about 19 months old sleep!

[Massey1990]

Hey
Being first time parents we new we'd get things wrong and make mistakes and I think as we haven't got a real routine at bedtime were now thinking we might have made a mistake!
19 month old has dinner chill time pjs etc then straight up to bed and into his cot where he has his milk chills to his music then falls asleep. I'm sure many will say how bad it is to have milk in the cot but hey ho it helped us transition from rocking and patting and falling asleep in our arms to going into the cot.
How should I go about not having the milk in the cot? Include milk in evening time downstairs then put him straight up? I'm scared for the crying as I know he'll be confused!
TIA x