but I don’t think companies should be allowed to sell it as “milk” in any form

Well sure, and they haven’t been able to in almost a decade. This court ruling is about something else. They’re not calling it milk, they’re not mislabelling their product. In fact, the campaign this is about is them saying explicitly this is not milk, and apparently that goes too far. I’m totally with you that food labelling should be clear, but this is not about that. This is not consumer protection. This is anticompetitive agribusiness lobbying, no more, no less.