To a small pot, add peanut butter, honey, milk, cocoa, and salt. On medium (NOT high) heat, stir until completely melted and smooth. Once melted, cook and stir about 1 minute longer, constantly stirring to avoid burning.
Remove from heat and stir in vanilla. Then add coconut and oats, and optional peanuts. Stir until well-combined.
Scoop out 1 tablespoon-fulls and drop onto wax paper. Let chill in refrigerator at least 30 minutes before serving. Store in refrigerator. Makes about 14 cookies.