It has been a long time, if ever, since I prepared and ate millet the way I do rice - steamed till the water is gone, and the berries just ready to burst, no more, with no other grain or ingredient. Ten years ago, I was mixing it with other grains and preparing it in a rice cooker, and calling that "grollet."
I have been eating steamed millet for a week or two now, plain, and I like it more than I ever did before. Much more. More than rice, depending on my mood and menu.