Meanwhile, in 4-quart saucepan, cook milk and pudding mix over medium heat 10 to 14 minutes or until mixture comes to a full boil, stirring constantly. Remove from heat. Add chocolate chips; stir until melted and smooth. Pour into baked crust; spread evenly. Cool at room temperature 15 minutes, then cover filling with plastic wrap. Refrigerate at least 2 hours or until set.