Microwave peanut butter and chocolate in microwavable bowl on MEDIUM (50%) 2-1/2 minutes; stir until chocolate is completely melted and mixture is well blended.
Pour milk into large bowl.
Add dry pudding mix. Beat with wire whisk 2 minutes or until well blended.
Add peanut butter mixture; beat until well blended. Gently stir in whipped topping.
Place bananas on bottom of crust; cover with pudding mixture. Refrigerate at least 1 hour. Store leftover pie in refrigerator.