In a large mixing bowl, beat the softened cream cheese with a hand mixer until smooth and creamy.
Add the sweetened condensed milk and mix until fully combined.
Pour in the thawed frozen orange juice concentrate (do not add water), vanilla extract, orange extract, orange zest (if using), and a pinch of salt. Beat until smooth.
Gently fold in the whipped topping until the filling is light, fluffy, and no streaks remain.
Spoon the filling into the prepared 10-inch graham cracker crust and smooth the top with a spatula.
Cover and freeze for at least 6 hours, or overnight for the best texture.
Before serving, let the pie sit at room temperature for 10–15 minutes to make slicing easier.
Top with extra whipped topping, fresh orange zest, or orange slices, if desired and dig in!