It's actually pretty trivial to speed up, if you have multiple documents to parse, you can use multiprocessing.

    from multiprocessing import Pool
    
    def parse(html):
      result = []
      soup = BeautifulSoup(html, 'html.parser')
      for p in soup.select('div > p'):
        result.append(p.text)
      return result
    
    with Pool(processes=16) as pool:
      for texts in pool.imap_unordered(parse, my_html_texts):
        for text in texts:
          print(text)