Rinse the endives and pat dry. Remove any discolored outer leaves. Cut the tough ends off of each endive and separate them into leaves (a.k.a. little boats). Prep the blue cheese, pears, and walnuts and put into little bowls. Drizzle the lemon juice over the pears, tossing to combine. This will prevent them from turning brown.
Whisk together the shallot, honey, and vinegar in a small bowl. Add the olive oil in a slow steady stream, whisking constantly. (Alternately, combine all vinaigrette ingredients in a jar and shake to combine!) Season with salt and pepper to taste.
Arrange the endive spears on a circular platter, pointed tips facing out, alternating between yellow and red. Sprinkle a bit of blue cheese, pears, and walnuts in each endive boat and drizzle with about a teaspoon of vinaigrette per endive. Serve immediately.
MAKE AHEAD: Prep all of your ingredients the day before and just assemble the day of.