Add pumpkin puree, maple syrup, pumpkin pie spice, ground cinnamon, and vanilla extract to a small saucepan.
Mix all ingredients and heat on "low", stirring occasionally, for 5 minutes.
Remove from heat and let cool for 10 minutes.
Stir in Greek yogurt until mixture is smooth.
Refrigerate for at least 30 minutes, covered.
Add toppings before serving. I used mini chopped chips, whipped cream, and a sprinkle of pumpkin pie spice.
Mini chocolate chips
Whipped cream
Pumpkin pie spice
Graham cracker crumbs