Mix half of the lemon zest and half of the lemon juice with the garlic and cilantro. Set the remaining juice aside (freeze the extra zest for another day).

Unroll the thighs, season with salt and pepper, and place in a zip-top bag with the marinade. Turn to coat and refrigerate at least 30 minutes or overnight.

Heat the oil in a large skillet over medium-high heat. Let the extra marinade drip off and discard it. Sear the thighs 3 to 4 minutes per side, until browned. Move to a plate.

Add the reserved lemon juice (and up to 1/4 cup water) to the pan, scraping up the browned bits. Bring to a boil, then reduce to medium-low.

Return the chicken to the pan and simmer 3 to 4 minutes, until it reaches 165°F. Season to taste and garnish with cilantro.