Prepare the crust by combining graham cracker crumbs, sugar, and melted butter in a bowl until the mixture resembles wet sand. Press firmly and evenly into a 9-inch pie dish, making sure to bring the crust up the sides. Refrigerate for 30 minutes to firm up.
Make the filling by whisking together the sweetened condensed milk and egg yolks in a large bowl until fully combined and slightly thickened, about 2-3 minutes.
Add the lemon components by slowly incorporating the fresh lemon juice while whisking continuously – you’ll notice the mixture immediately beginning to thicken. Fold in the lemon zest, vanilla extract, and salt until evenly distributed.
Pour the filling into the chilled graham cracker crust, spreading it evenly with a spatula. Tap the pie dish gently on the counter a few times to release any air bubbles.
Refrigerate the pie for at least 4 hours, though overnight is ideal for the filling to set completely and flavors to develop fully.
Before serving, top the pie with freshly whipped cream if desired, and garnish with additional lemon zest or thin lemon slices for an extra pop of color and flavor.