I love my Dexters

For you, I'd look into whatever smallish breed is near you. Or, many times you can get culls from dairies that don't produce enough for a dairy but more than enough for home use, my neighbor got a sweet Jersey that way that transferred to grain-free with no problem. A bonus there is that they are already tame and used to milking, and you can always cross them to a beef breed for meatier calves. There's a bunch of good advice in here, I would add that, if you are going to milk your cow and you're looking for a heritage breed, try and find someone who is selecting for milk and if they are actually trained for milking, that's a bonus. Many heritage breeders breed for type or color or beefiness, or anything but milking ability and udder quality, even if it's a breed labeled "dual purpose". You do not want to make milking any harder on yourself than it has to be. I'm not going to say absolutely don't have a bull, but they are often more of a nuisance than they are worth. If you can get by with three gallons of milk a day, you should only need 2 cows (if you get something like a Jersey, maybe only one), keep in mind that their offspring take a couple years to mature so 2 milk cows means one calf and one yearling each so six head of cattle at any given time, and it's generally not worth keeping a bull as well to breed only two cows a year. We have had good luck borrowing or renting bulls for the most part. Also, if you expect them to produce on grass only, your pastures need to be very high-quality, no cow can make something from nothing. Also, a bull with horns - yikes. I hate horns. Dexters have pretty ones, but after having them just a few years, I got excellent bruises backing into my gentle cow's horns on a couple occasions, one steer killed a goat and nearly killed another (he was just playing), they do a lot of damage to stuff just itching their horns on it, I'm doing my best now to remove horns and avoid gaining any more "experience".
As for chickens and pigs, chickens are awesome in the field, they break up the cow pies and eat bugs. I can't say for pigs. No way would I let my pigs in my field, they do too much damage and their unofficial job is garbage disposal anyway which would be much more complicated if they're running free with the grazers. I've heard that some people are successful with them in the pasture though.