Put the chopped chocolate in the large bowl and set the mesh strainer on top.
In the 2-quart sauce pan, heat the milk, sugar, and salt. In the medium bowl whisk the egg yolks. Add some of the heated milk mixture a little at a time, whisking as you go. Don't pour it all at once, or the eggs will scramble.
Pour the mixture back into the sauce pan and cook over low heat until the mixture thickens and coats the back of a wooden spoon. Pour it through the strainer over the chocolate and stir until the chocolate is melted.
Whisk in the cream, Guinness, and then the vanilla extract. Place the bowl in an ice bath and continue to whisk until cool.
Refrigerate until thoroughly cold, then freeze according to the manufacturer's directions for your ice cream freezer. Store in the freezer.