In a mixing bowl, whisk together the pumpkin puree, heavy cream, whole milk, granulated sugar, vanilla extract, pumpkin pie spice, and salt until well combined.
Pour the mixture into a saucepan and cook over medium heat, stirring constantly, until the sugar is completely dissolved and the mixture is hot but not boiling.
Remove from heat and let the mixture cool to room temperature.
Once cooled, cover the mixture and refrigerate for at least 2 hours or overnight.
Pour the chilled mixture into an ice cream maker and churn according to the manufacturer's instructions.
Transfer the churned ice cream to a lidded container and freeze for at least 2 hours before serving.