Tea tastes best in cups from inert materials like ceramic or glass. Styrofoam cups are porous and will absorb some of the flavour compounds and affect the taste. Plastics can also absorb flavours.
There is also psychology involved in the way we perceive taste. Hot drinks taste sweeter in a red or orange mug, and drinking from a fine bone china cup will taste better because it feels more special.
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Milk should be added at the last possible moment before drinking, so the tea stays as hot as possible. Also, ensure to use freshly boiled water as it helps the flavours spread through the liquid.
Non-diary milk such as oat milk tends to add a good flavour to teas.
In years passed, coffee drinkers didn't know how coffee was produced or brewed. Coffee was cheap, tasted bitter, and was purposed for medicine or fuel. But over the decades, coffee has been elevated to craft level.
Filter or drip coffee can taste smooth and sweet like chocolate or taste fruity. The expansion of flavours is partly due to new roasting techniques. Roasting at relatively low temperatures for a shorter time tends to bring out the flavours of the bean itself and where it was grown.
It is more efficient to brew one cup at a time and you can choose from a great variety. However, it can be very costly. The excess packaging also causes environmental problems.
Using regular ground coffee with a reusable filter in your single-cup brewer may be a little more work, but will save you money.