I took this picture at the same time as the Red Milkweed Beetle pic. I don’t know what this one is yet, I tried looking it up but it doesn’t seem to be specifically associated with Milkweed. I have seen it on the leaves several times over a period of days though. He had elongated back legs, that reminded me of a grasshopper, but I have not seen him hop. It has a rather slow and deliberate movement.