I also don't understand why some HNer's insist on downvoting simple questions. Trying to silence questioning is not healthy for society.
What you have seen (whey without calves harm) is probably typical an old farming practice OR of some rural family production. That’s great for them and their cows, but have nothing to do with 99% of the milk consumed daily, even the best quality you can buy wherever else those farms are.
If HN is about the struggle for truth I expect a certain amount of intellectual rigor in comments.
In a small dairy situation the calves are kept off of the cows for either the morning or the evening milking and so the cows' milk production remains high the entire time. The calf weans, but from the cow's udder's perspective the calf is still suckling like mad and so the cow keeps producing milk. The calf grows up and is bred themselves, doubling the milk output over the course of two to three years.
Now this isn't sustainable in a paperclip-optimizer kind of way, so only the best milkers are kept and the ones that either have a hard time getting pregnant, or are ornery, or produce less milk, or get sick regularly wind up getting harvested for their meat. But there's no need to kill the calves (at the local dairy scale).