Add the blueberries, banana, peanut butter, yogurt, and milk to your blender.
If you're using vanilla or ice cubes, toss those in too.
Blend on high until smooth and creamy. Scrape the sides if needed.
Taste it. Want it colder? Add a few more cubes. Want it thinner? A splash more milk.
Pour into two glasses and serve immediately, or refrigerate for up to 24 hours.