Is foster relationship established through drinking the milk of animals?

I have to ask one question relating to Razaa'at or foster relationship. If an adult person of any age or infant child or child of any age drinks the milk of any kind and type of animal, whether it is the milk of cat, cow or any animal which gives milk either the animal is halal or haram, so is the relationship of Razaa'at or foster relationship established with the animal or it's only established with the milk of human beings?