If you WANT coffee, then HAVE coffee.
I do have a coffee press when there are others on my trip that are coffee drinkers, but when solo or I'm the only coffee drinker, I make a single cup (HOWEVER, my cup is one of the 20 ounce, insulated models).
So, if you have hot water, just drop in a coffee bag. Since I haven't been impressed with the commercially available ones, I make my own using the
(You need to Login or Register to view media files and links) product. So, I just make my own ... put in my favorite coffee, fold over the top, sometimes put a small clothes pin on the fold (did I say I'm into multi-use?), and drop in a cup of hot water. Wait a couple of minutes, and viola. Of late, however, I've taken to making enough bags for a trip (with a few extras) in advance and running the folds through my sewing machine. to close them. Just be a bit careful if you do this because the sew line acts something like a "tear-here" strip ... makes for easy emptying later. Once dried, the bags make pretty good fire starter. As always, dispose of trash responsibly.
Sorry, I can't help you with the steamed milk!

dd