When the water is boiling, add the peas and boil for 2 minutes. Use a slotted spoon to transfer the peas to a blender or food processor (leave the pot of water boiling).
Once all of the peas have been removed from the water, add the pasta and cook according to package directions. Remove ½ cup of pasta water (amount is for 4 servings; adjust if customizing) and pour it over the peas.
In the last 2 minutes of cooking, add the asparagus to the pasta so that it finishes cooking along with the pasta. Drain well.
Add the pesto to the peas and blend until smooth. Toss together the pasta, asparagus, and pesto sauce. Season with some salt and pepper, if needed. Cover to keep warm.
Next, heat a large nonstick pan or skillet over medium heat. When the skillet is hot, pour in the shrimp and all marinade ingredients. Saute until shrimp is opaque and heated through, 4 to 5 minutes.
Divide the pasta between serving bowls. Top with shrimp. Serve with lemon wedges to squeeze over top. Enjoy!