My experience is with my Jerseys, not Dexters, but I am happy to share my findings.
Ideally you'd have got her used to being tied up and you fiddling about underneath, clattering with buckets, etc, before she calved, which would have made this stage a little easier, yes.
However, she will settle to it, I'm sure, with patience and persistence.
With a heifer I find it best to be very consistent, yes, so same routine, same sequence of events, same amount of milk every day. Once they've 'learned the job' and the routine, you can start to take days off milking when you don't need any milk, take less or more, as you require.
In your situation I would recommend, if you can, separating mum and calf for a few hours before you want to milk. (You're going to need to do this later as the calf grows in any case, or there'll be no milk for you when you come to milk her
) Calfie will be keen enough to follow mum when you lead her off to the milking parlour then
. And mum will be so pleased to see calf and feel calfie on her teats that she'll drop the milk no bother
Re: the kicks when you get onto mum's teats, these should disappear as she gets used to the job. Yes, get in close so she can't hurt you or knock the bucket over. I do tell mine off if they kick, it's never allowed to kick a human, but some of the heifers do take longer to get used to the shenanigans underneath than others. Rather than have her getting into a habit of kicking, I'd be inclined to hobble her until she's settled into the whole thing. She'll soon learn there's no point trying to kick and will stop trying. I use a couple of quick-release puppy collars and a quick-release clip between them.
I do all my milking on my own, even when a second pair of hands would be useful. I just find that introducing another human for the heifer to think about and interact with is counter-productive, so I solve any problems on my own
And any time I'm really struggling, I use 'pressure-and-release' tactics. Ask for what you want, firmly but kindly. As soon as you get even a tiny bit of what you asked for, release. Repeat repeat repeat. So for instance, if she's a kicker and is not happy with me putting a puppy collar on her leg, I'll stroke the leg, then handle the 'ankle', then hold the collar against it, and so on, all the time getting a little bit further but stopping the instant she relaxes into it. Then go again but a little bit further this time.
Good luck!