Yes you can eat out of date Chocolate Bars without any health risks.
The out of date on Chocolate Bars just means they're not fresh anymore and that the stores cannot really legally sell them to you for health reasons.
But it doesn't mean the Chocolate Bars are not edible when they're out of date.
I sometimes buy extra chocolate bars at Costco or Sam's Club and keep them in my pantry sometimes way past the expiration date and they are still safe to eat but just not as fresh.
So if you have some out of date chocolate bars go ahead and eat them because it's not gonna harm you.