Liver does have a unique taste, smell and texture. It is fairly similar between mammals (beef, pork, chicken, etc). But for example I have had eel liver which is pretty different.
However, different varieties and preparations of liver are more mild and taste closer to muscle meat. Calf's liver for example is milder than that of an adult animal.
If it is overcooked it can be particularly awful (awful offal, ha ha). When I make it, I soak it in fresh squeezed lemon juice for about 10-15 minutes and then rinse it, which takes away some of the pungency. I fry it at high heat with duck or bacon fat which sears the outside and leaves the inside tender.
Some restaurants seem to try to make it taste as livery as possible by picking large, tough pieces and cooking them to death, as if that were a good thing.
I grew up eating liver and love it. My mom used to make liver dumpling soup, which is ground liver mixed with eggs and flour and then cooked in beef broth, which I loved. I went on to like it cooked any which way. My son (age 9) also likes it, in fact when I tell him we're having liver he says "yum!" and gets excited. I have never forced him to eat it or made a big deal about it, I just put it in front of him one night and he liked it. So it is possible to actually like it without being forced to eat it.
If you want to ease into it, I would try some pates that have a significant amount of liver, then maybe try liver dumpling soup (the traditional kind is not paleo because of the flour), and then maybe try some well-prepared calf's liver.