Windows-style taskbar functionality in OS X?

Could perhaps HyperDock or DockView meet your needs?

try uBar, which is a Windows-style taskbar for OS X (I am the developer). Just set Window Grouping to Never in the preferences, and it will display each individual window in the bar.

Expose is the answer, you just need to configure it properly.

I use a trackpad (on my desktop mac!) and have a four finger swipe to bring up expose. With a mouse you might want to investigate activating expose with a screen corner or keyboard command (eg: left hand on the keyboard, right hand on the mouse).

Properly configured, expose is fast. It also gives you a bigger click target than the task bar.

There is no way to get the exact task bar functionality on OS X, you are going to have to learn a different workflow. But once you learn it, you'll be just as efficient.

Using your Chrome example,

Hold CTRL and click on Chrome icon on the dock, it will bring up a list of Chrome Window that is currently opened.

My solution to this is to not maximize windows: if I have one large window open in the middle, I'll leave ~50 pixels of open monitor on each side (less on the top) and I'll arrange ancillary windows (chat, terminal, Stickies, etc.) so various edges of them stick out beyond the edge of the big central window. Apps that have larger windows (browsers, email, etc.) that I access less-frequently I'll leave in the middle and click on the Dock icon to bring all of them forward and choose which one to use (usually, there's only one window in this sort of app in my normal usage).

If I have a ton of windows open in a certain app (usually BBEdit or Excel), I'll make sure none of them completely occlude another so I can, at the very least, get to any window in two clicks: one on the Dock icon and the second on an edge of the window I want; in some cases, I'll four-finger-swipe to get Exposé and then click on the document window I want.