Cook the ground beef in a large pot over medium heat until browned. Drain excess grease, leaving 1 tbsp in the pot.
Add onion, carrot, celery, and garlic. Cook for 5-7 minutes until softened, stirring occasionally.
Stir in tomato paste, Worcestershire sauce, mustard (if using), and smoked paprika. Cook for 1 minute.
Pour in beef broth and diced tomatoes. Bring to a boil, add macaroni, and stir well. Reduce heat to simmer for 10-12 minutes, stirring occasionally.
Lower heat to medium-low. Stir in milk or heavy cream until melted and creamy. Season with salt and black pepper.
Serve hot, garnished with parsley, or bacon and cheese (if desired) Enjoy with crusty bread or a side salad.