This is one of my pet-peeves........Your power-steering should be "flushed". The way I flush it is I disconnect the return hose and add a hose to it and stick it in a bucket. You might have to cap off the hole at the pump. then I have someone start the truck and I keep filling the reservoir until the fluid that comes out is bubbling pink, almost like it is alive again. I buy one more quart then the system holds. The whole process takes about 15 minutes (once you get the hose and cap) and cost $10-20. Steering racks start at around $600 installed........No one could ever convince me that on this 10 year old truck with milky fluid that what I just described is absolutely the correct method.......and the right thing to do......in the event you have no skills at all and no money to pay someone I would concede that the turkey baster is a good temporary solution to removing some of the milky fluid.............I have done many of these on cars with 100k that are 5 years old and the fluid comes out like chocolate milk

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2004 Ext Cab, 4WD, 4.0, Auto, 154k. (4.0 engine is out of a 2009 Ranger w/96k) ( as of 7/1/2017)

2004 Ranger, Ext Cab, 2WD, 3.0, 5 speed , 4WABS, crank windows, no cruise, Edge 116k.(6/5,2014) (SOLD).
1999 Ford Ranger, Reg Cab, 2.5, 5 speed, 2WD, no AC, 150k (SOLD).