In a large mixing bowl, beat the softened cream cheese until smooth and creamy.
Add the peanut butter, powdered sugar, vanilla extract, salt, and milk.
Beat until the mixture is smooth and well combined.
In a separate bowl, whip the heavy cream until soft peaks form.
Gently fold the whipped cream into the peanut butter mixture.
Continue folding until the mousse is smooth, creamy, and evenly combined.
If desired, place a layer of crushed chocolate cookies into the bottom of six dessert glasses.
Spoon or pipe the peanut butter mousse evenly into the glasses.
Cover and refrigerate for at least 2 hours, or until chilled and slightly firm.
Before serving, top with whipped cream, chopped peanuts, chocolate shavings, or caramel sauce.
Serve chilled and enjoy.