Prepare the marinade by mixing honey, soy sauce, garlic, black pepper, salt, and apple cider vinegar in a bowl.
Add the chicken thighs to the marinade and let them sit for at least 30 minutes, or up to 2 hours in the refrigerator.
Heat olive oil in a large skillet over medium-high heat.
Remove the chicken from the marinade, letting the excess drip off, and place it in the skillet.
Cook the chicken thighs for 5-7 minutes on one side until golden brown.
Flip the chicken and pour the remaining marinade over the top.
Reduce the heat to medium and cover the skillet, cooking for an additional 10-15 minutes until chicken is cooked through.
Remove the chicken from the skillet and let it rest for a few minutes before serving.
Serve the chicken hot, drizzling the pan sauce over the top.