Boil potatoes until fork-tender, 15 to 18 minutes. Drain well; mash with butter, milk, and 1/2 teaspoon salt.
Brown lamb, onion, and carrots in skillet over medium-high 10 minutes, breaking up meat, to 160°F. Spoon off excess fat.
Stir in tomato paste and flour 1 minute; add broth, Worcestershire, rosemary, remaining salt, and pepper. Simmer 6 to 8 minutes until thick; add peas.
Spread filling and potatoes in separate shallow containers. Refrigerate within 2 hours; chill fully. Divide filling between two 8-inch-square metal pans; spread potatoes over and fork-roughen tops.
Before final bake, tightly cover pans with foil and second wrap. Label; freeze up to 2 months.
Thaw pan in refrigerator 24 hours. Remove outer wrap; bake covered at 375°F for 30 minutes, then uncovered 15 to 20 minutes until center reaches 165°F and top browns.
Rest 10 minutes; cut each pan into 4 portions. Reheat refrigerated cooked portions covered at 350°F for 20 to 30 minutes to 165°F.