Cats stepping on milk with four feet is usually when they are in a happy mood. Stepping on milk is what cats do when they are young. In order to drink more milk, cats will step on their mother’s breasts. Over time, stepping on milk becomes like drinking milk. The feeling of satisfaction and pleasure is related, so when the cat feels comfortable and happy, it will instinctively step on the milk.

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In addition to stepping on milk to express happiness, cats will also express their happiness by rubbing against you, licking you, and making cooing sounds.