Peel and quarter potatoes, place in a pot of cold salted water.
Add cloves of garlic (if using) & bring to a boil, cook uncovered 15 minutes or until fork-tender. Drain well.
Heat milk on the stove top (or in the microwave) until warm.
Add butter to the potatoes and begin mashing. Pour in heated milk a little at a time while using a potato masher to reach desired consistency.
Season with salt and pepper. Serve hot.