XML parsing from file to text PYTHON

I need to get text values from XML files in Python.

My actual XML file is:

<?xml version="1.0"?>
<data>
        <command>first</command>
        <command>second</command>
        <command>third</command>
</data>

I need read it from a file and then obtain an output like:

first
second
third

Im doing a little source like:

from xml.dom import minidom
doc = minidom.parse("C:\ciao.xml")
name = doc.getElementsByTagName("command")[0]
print(name.firstChild.data)

But i need get all commands and not just one by one