For the dressing, combine all ingredients in a blender or food processor until smooth. Taste, and add more lemon juice, parm, or pepper to your taste.
Preheat a skillet with a drizzle of oil over medium-high heat. When the oil is very hot, add the shrimp in a single layer and let sit for 1 minute. Then, sprinkle the parmesan and lemon zest over all the shrimp. Toss for 1 or 2 minutes more until the shrimp is cooked through and the parmesan is slightly browned, then remove from the heat.
To assemble the shrimp boats, spoon a bit of shrimp into each of the endive leaves, then top with a drizzle of dressing and some extra parm. Serve immediately.
Enjoy!