Preheat the oven to 350°F (175°C). Place a rack in the center.
Have a 9-inch pie dish ready.
Make the crust: In a bowl, mix graham cracker crumbs, sugar, and a pinch of salt. Stir in melted butter until the mixture feels like damp sand and holds when pressed.
Press the crust into the pie dish, packing it firmly on the bottom and up the sides. Use the bottom of a measuring cup for even pressure.
Bake the crust for 8–10 minutes, until lightly golden and fragrant.
Set aside to cool slightly.
Prepare the filling: In a medium bowl, whisk egg yolks until slightly thickened, about 1 minute. Whisk in sweetened condensed milk until smooth.
Add lime juice, zest, vanilla, and a pinch of salt. Whisk just until combined.
The mixture will thicken a bit on its own.
Pour the filling into the warm crust and smooth the top.
Bake for 12–15 minutes, just until the center is set but still has a slight wobble. Do not overbake.
Cool on a rack for 1 hour, then cover and chill at least 3 hours, preferably overnight, until fully set.
Make the whipped cream: Beat cold heavy cream, powdered sugar, and vanilla to soft peaks. Spoon or pipe over the chilled pie.
Garnish with lime zest or slices.
Slice with a warm, dry knife for clean cuts. Serve cold.