A chirp noise from the timing belt area can be caused by a tilted idler pulley. Installing a corrective shim from Honda will commonly correct this issue.
Car Problem Reports
Honda Pilot Shim to Correct Chirping Timing Belt
Honda Pilot Problem
Engine Affected: 3.5L V6
Average Mileage: 61,000 mi (27,000 mi - 80,000 mi)
Visitor, 2005 Honda Pilot, 3.5L V6, 70,000 mi
I had a chirping sound from the belt area which became worse when the vehicle was cold or in humid weather. I replaced the accessory belt, but this didn't stop the problem. I ended up having the dealer replace the timing belt, water pump, and install the shim kit so it doesn't happen again. It's been 6 months now and I haven't heard a problem since.
Visitor, 2008 Honda Pilot, 3.5L V6, 67,000 mi
Chirping noise when idling comes and goes. Dealer said it was just cause it was an older vehicle. Its a 2008!! I have a 1996 tacoma it doesn't chirp.
Visitor, 2009 Honda Pilot, 3.5L V6, 27,000 mi
chirping on start, especially in cold weather
Visitor, 2004 Honda Pilot, 3.5L V6, 80,000 mi
not fixed yet