In a medium saucepan, whisk together the milk and pumpkin puree over medium heat until well combined.
Add the cocoa powder, sugar, pumpkin pie spice, and salt to the saucepan. Whisk continuously until the mixture is smooth and there are no lumps.
Heat the mixture, stirring frequently, until it's hot but not boiling (about 5-7 minutes). You'll see steam rising from the surface.
Remove from heat and stir in the vanilla extract.
Pour the hot chocolate into two mugs.
If desired, top with whipped cream and a sprinkle of cinnamon or nutmeg.
Serve immediately and enjoy your homemade pumpkin spice hot chocolate!