It has little to do with the reasons for regulating food, and everything to do with the means. In order to keep me from buying soda, you have to forcibly come between the peaceful and free association of me and another person.
You're not going to convince me that I would still buy raw milk, or that pasteurized milk would be unavailable, in the absence of FDA regulation.
Just like I do now. I look for milk labeled "pasteurized" and make sure it's from a trusted vendor/brand or has a trusted certification.
There's a competitive advantage to labeling food, and there's no stopping companies from labeling food in the absence of food labeling regulations. The most trusted organic certification is from a for-profit certification company, Quality Assurance International. McDonald's published nutrition information before it was required by any law. Intentionally incorrect labeling is already covered by fraud and tort law.
You're not going to convince me that I would still buy raw milk, or that pasteurized milk would be unavailable, in the absence of FDA regulation.