Relan

Oh yeah, with an empty hand, you can pet a goat. Petted goats become completely still and docile. Sure, they'll attack you if you fail to roll good odds during the milking, but this isn't actually a problem at gen 3, since they can only become aggressive at gen 1 and gen 2 for fail odds.

build a very long, but narrowish pen. think of like 25 x 4 or 5. Build a 1 block wide trail at the edge of the pen, and build an additional 25 block long, narrow pen on the other side. that's how you can manage them for the first few generations, and of course, you can stand among them later if you cull males and dont milk stressed females