Add the milk, pumpkin puree, maple syrup, pumpkin pie spice, cinnamon, vanilla extract, and salt to a small saucepan. Whisk until smooth and place over medium-low heat.

Warm the mixture for 3–4 minutes, whisking occasionally, until steaming and hot but not boiling. The pumpkin should be fully incorporated and the milk should look smooth and lightly frothy around the edges.

While the milk mixture heats, brew 2 shots of espresso. Divide the espresso evenly between 2 heatproof mugs.

Slowly pour the hot pumpkin milk mixture over the espresso, dividing it evenly between the mugs. Whisk or stir each latte briefly to combine.

For a foamier latte, use a handheld milk frother for about 10–15 seconds. The surface should develop a light layer of fine foam without becoming overly bubbly.

Top each latte with whipped cream if desired and sprinkle lightly with pumpkin pie spice. Serve immediately while hot.