Put milk, maple syrup, cornstarch, and pumpkin pie zest in a medium saucepan.
Mix them till they get a smooth texture.
Add pumpkin puree and swirl well with the mixer.
Cook on medium heat. Swirling all the time, till it thickens like pudding.
Take off the heat. Add vanilla extract and mix it well. Put into bowls. Let it cool a little, or place it in the fridge.
Add cinnamon, nuts, or whipped cream to it.