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Set aside ½ cup of the whole milk.
To a medium saucepan, over medium heat, add remaining 3 ½ cups of milk, salt, cocoa powder, and sugar. Stir to combine and bring to a simmer, stirring constantly.
Add the dark chocolate and stir until melted.
To the reserved ½ cup milk, add cornstarch and stir until fully dissolved.
With the chocolate mixture still simmering, whisk in the cornstarch slurry. Continue cooking, stirring constantly for 1-2 minutes, until the mixture thickens.
Remove from heat, stir in vanilla extract, and serve immediately. Refrigerate leftovers in an airtight container for up to 4 days.