Stir graham crumbs, sugar, and melted butter until evenly moistened.
Press the mixture firmly into a 9-inch pie plate, going up the sides.
Chill the crust while you make the filling.
Beat softened cream cheese until smooth and fluffy.
Add peanut butter, powdered sugar, vanilla, and salt; mix until creamy.
Blend in milk to loosen the filling to a silky texture.
Fold in whipped topping gently until no streaks remain.
Spread the filling into the chilled crust and smooth the top.
Refrigerate until set, at least 3 hours. Garnish with peanuts and a chocolate drizzle before serving.