There are no easy answers to these questions but there are some general rules to keep in mind when using these products. It thickens better than rice milk. If I want a true milk flavor I use rice milk. The biggest complaint with the soy beverages is that they tend to curdle at high temperatures and with the addition of acidic foods. Also, soy milk tends to curdle when exposed to high heat.
Soy milk tends to be heartier even if it is harder to use.
It lends a thicker, richer texture especially to recipes like sauces, gravies, and soups. Almond milk works much like rice milk in cooking and seems better suited to sweeter dishes such as curries or desserts. Remember that not all brands taste the same, and personal preference and availability will most likely affect your choice. Personally, I like to use a rice-soy blend as my mainstay for cooking. It doesn't seem to curdle as easily as pure soy and has the milder flavor components of rice drinks.