In a medium bowl, combine the peanut butter, confectioners' sugar, heavy cream and salt. Divide the peanut butter cream among 10 glasses.
In a medium saucepan, whisk together the milk, granulated sugar, cocoa and cornstarch over medium-high heat. Bring to a boil, whisking constantly, until thickened, about 2 minutes. Remove from the heat and whisk in the chocolate until melted. Spoon the warm chocolate pudding over the peanut butter cream; refrigerate until set, about 2 hours.