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MICROWAVE peanut butter and chocolate in microwaveable bowl on HIGH 1-1/2 min.; stir until chocolate is completely melted and mixture is well blended.
BEAT pudding mix and milk with whisk 2 min. Add peanut butter mixture; beat until blended. Gently stir in whipped topping. Spoon into crust.
REFRIGERATE at least 1 hour.