I've been looking around everywhere, but I cannot seem to find out how a Pact of the Chain warlock's familiar might recover hitpoints. Regular find familiar familiars only have 1 hp, so it's entirely moot for them, but Chain familiars have enough HP that they can potentially take damage and survive.
I don't see any indication that they can benefit from long rests, as they are not characters, but this does seem like the logical conclusion. They certainly don't appear to have hit dice with which to heal.