According to MyPlate.gov, which is based on the Dietary Guideline's for Americans, "milks" made from plants (like almond milk and rice milk) are not part of the dairy group even though they may have calcium in them. However fortified soy milk and yogurt with added calcium, vitamin A, and vitamin D are part of the Dairy Group because their nutrition content is similar to that of dairy milk and yogurt. Both almond milk and rice milk would be considered plant-based milk alternatives.

Almond milk would not be part of the protein group because it loses most of it's protein during processing, almond milk has 1 gram of protein per 1 cup serving while whole almonds have 30 grams of protein in a similar 1 cup serving. 

Yes - generally speaking, plant based milks are "outside" of the food groups due to variation in nutrients.

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