How many deaths per year do we tolerate before deciding cars were a mistake?
Of course laws are not always rational, but somewhere in there someone has decided that the death toll/benefit trade off for cars is worth it and for raw milk is not. It might be surprising, but I actually would rather have it the other way around, but I think there is considerable room for reasonable disagreement.
There are ~12k/year deaths from falling down stairs, in the US alone. I guess "ranch style" houses from now on, and no basements.