Preheat oven to 375 degrees F. Sift together the flour, salt and baking soda and set aside.
Cream together the peanut butter and butter along with the white and brown sugars until light in color and very fluffy. Stir in the egg, vanilla and milk until well combined.
Add the flour mixture and mix just until well combined.
I used a small cookie scoop and rolled each level scoop into a ball. Place each dough ball into an ungreased well of a mini muffin pan. You should have just enough batter to make 48 cookies.
Bake in preheated oven about 8 minutes. Remove from oven and immediately press a mini peanut butter cup into each ball. If you're making spiders, I think its cute to put the peanut butter cup in upside down and not press it in all the way. If you won't be adding legs, you can push it in right side up and press down to make the top even with the cookie. Cool and carefully remove from pan.
Legs:
Microwave chocolate chips and peanut butter on 50% power for 2-3 minutes, then stir well. If chips are still not melted, continue to cook in microwave at 50% power in one minute increments until melted. Add to plastic bag and snip off corner to squeeze eight legs onto each cookie. Be sure to pipe legs onto cooled cookies and allow the chocolate to somewhat cool before piping to get your desired thickness. Allow chocolate legs to dry and harden.