Preheat the oven to 200 C. Line 12 muffin moulds with cupcake liners (recommended) or grease the muffin moulds.
In a mixing bowl, mash the bananas (roughly 3/4 cup after mashing), then stir in the honey, sugar, yoghurt and milk. Whisk well to combine.
Add the peanut butter (ideally use room temperature peanut butter), and stir until no lumps remain. If needed, use a hand mixer at this step.
Now sift in the flour, baking soda, baking powder and salt. Fold gently to combine into a fairly thick batter. Stir in the chocolate chips.
Divide the batter equally among the muffin moulds and bake at 200 C for 5 minutes (to give them a burst of heat for higher muffin tops), then lower the temperature to 180 C and continue baking for 15 minutes until the muffins have browned on top. A toothpick poked in the center should come out clean.
Let the muffins cool for 10 minutes, then transfer to a wire rack to cool completely. They don't have crusty tops, and are best stored in the fridge after day one since the batter has a lot of moisture in it so the muffins will soften further. In the fridge, they will keep for about a week and can be frozen for longer. Happy baking!