Pat the chicken thighs completely dry with paper towels. Season both sides generously with salt and pepper.
Heat the oil in a 12-inch skillet over medium-high heat until shimmering. Place the thighs skin-side down and sear undisturbed for 7–8 minutes, until deeply golden.
Flip the thighs and cook 6–7 minutes more, until an instant-read thermometer reads 165°F at the thickest part. Transfer chicken to a plate; do not wipe out the pan.
Reduce heat to medium. Add the minced garlic to the rendered fat and cook 30 seconds, until fragrant.
Add the honey, soy sauce, half the lime juice, and half the chopped cilantro to the pan, scraping up any browned bits.
Bring to a simmer and reduce, stirring occasionally, until the glaze coats the back of a spoon and looks glossy rather than watery — about 4–5 minutes.
Nestle the chicken back into the skillet skin-side up and spoon the glaze over each piece. Let sit in the glaze 1–2 minutes.
Turn off the heat. Stir in the remaining lime juice, lime zest, and remaining cilantro directly into the glaze pooled around the chicken. Serve immediately.