Through the same chain, it is narrated from Sayyiduna Samurah bin Jundub (may Allah be pleased with him) that the Messenger of Allah (peace and blessings be upon him) used to forbid milking a man's livestock without his permission, and he would say: "Their milk is just like what is in your own store; neither of the two is more lawful than the other."
Hadith Referenceالمعجم الكبير للطبراني / باب السين / 7032