In a medium bowl, whisk together the instant chocolate pudding mix and the 3 cups of whole milk for about 2 minutes until the pudding mix is fully dissolved and smooth. Then place the bowl in the fridge for 5 minutes to let it begin to set.

Meanwhile, in a large mixing bowl, use an electric hand mixer to cream together the softened cream cheese, creamy peanut butter, and powdered sugar until the mixture is smooth and very thick.

Add spoonfuls of the chilled pudding into the peanut butter‑cream cheese mixture, mixing thoroughly before adding more, until all the pudding is incorporated.

Fold in half of the whipped topping into the combined mixture until no streaks remain and the filling is uniform.

Divide the filling mixture in half, and add half of it into each of the chocolate pie crusts. Smooth the tops evenly.

Cover the pies and refrigerate for at least 6 hours (ideally overnight) to let them fully set and firm up.

After chilling, top each pie with the remaining whipped topping. Then slice and serve.