Peel the potatoes if desired. Cut them into roughly 1-inch chunks and place in a large pot.
Fill the pot with enough water to cover the potatoes by 1 inch. Add the salt and garlic cloves, if using, and bring to a boil over high heat. Cook for about 10 minutes or until the potatoes are fork-tender.
While the potatoes are boiling, combine the milk and butter in a small saucepan. Cook over medium heat, stirring occasionally, for 3 to 4 minutes or until the butter is melted. Remove from the heat but keep warm if the potatoes aren’t done cooking.
Drain the potatoes, then transfer them back to the warm pot. Set the heat to low and gently move them around for a minute to help dry off any excess water. Remove from heat and mash the potatoes to the desired consistency using a potato masher or wooden spoon.
Pour the hot milk mixture in while gently mixing the mashed potatoes. Season with salt and pepper to taste. Serve with more butter and garnish with cracked pepper, minced chives, or parsley if desired.
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Notes
If you want more creaminess in your mashed potatoes, stir in ½ cup of sour cream or 4 ounces of softened cream cheese while mashing the potatoes. This gives them a delicious baked potato-style flavor and adds some extra richness without using more butter.