In a saucepan over medium heat, bring the milk, cacao powder, and maple syrup to a simmer. Stir until there's no clumps.
Add the finely chopped chocolate and whisk for about 3-5 minutes, or until the hot chocolate is smooth.
Pour the hot chocolate into mugs, and if you'd like, top with whipped cream, coconut whipped cream or homemade marshmallows and a sprinkle of cacao powder.