From Dereliction of Duty: Johnson, McNamara, the Joint Chiefs of Staff, by H. R. McMaster (HarperCollins, 2011), Kindle Loc. 523-45:
On October 1, 1962, Taylor took over as chairman of the Joint Chiefs of Staff. He found the Chiefs, still embittered over what they regarded as Kennedy’s unfair criticism in the wake of the Bay of Pigs, engaged in ongoing battles with civilian officials in the OSD [Office of the Secretary of Defense]. The Chiefs saw Taylor’s selection as the imposition of a Kennedy man on an organization designed by law to give impartial military advice to the commander in chief.
Taylor quickly cultivated a warm relationship with the man whom many of the military officers in the Pentagon deeply resented. Taylor and McNamara found common ground in their belief in the need for administrative reform in the Pentagon, faith in the “flexible response” strategy, and utter devotion to their commander in chief. Like McNamara, Taylor concluded that the answer to problems of service rivalry and administrative inefficiency was increased centralization of power in the chairmanship and the OSD. Taylor had once lamented the indecisiveness of Eisenhower’s defense secretaries, and he lauded McNamara for tackling the tough problems of the department. The bond of respect between the two men was mutual. McNamara considered Taylor “one of the wisest, most intelligent military men ever to serve.” Much to the chagrin of the other Chiefs, Taylor and McNamara formed a partnership. Taylor’s overwhelming influence with the secretary of defense and the president made opposition to his views futile.
Historian Robert Divine observed that “Vietnam can only be understood in relation to the Cold War.” Indeed, Cold War crises during Kennedy’s first months as president shaped advisory relationships within his administration and influenced his foreign policy decisions until his assassination in November 1963. Already predisposed to distrust the senior military officers he had inherited from the Eisenhower administration, the Bay of Pigs incident and Laotian crisis motivated the president to seek a changing of the guard in the Pentagon. After the Bay of Pigs, an unsatisfactory diplomatic settlement in Laos, confrontation with the Kremlin over divided Berlin, and Soviet premier Nikita Khrushchev’s bullying rhetoric persuaded Kennedy that the United States needed to make its “power credible.” “Vietnam,” Kennedy concluded, “is the place.” Vietnam, however, loomed in the background while the New Frontiersmen confronted in the Caribbean what would become the best known of Kennedy’s Cold War crises.