After recovering a 24 word seed to restore the device, will it ask for my original PIN again or will i need to add a new pin?
You will be able to setup a new pin. The older one is irrelevant.
So assuming that a thief who has heard of bitcoin, breaks into my home and steals my recovery words / seed, will they have access to my coins or do they still need to have the pin number as well?
They will be able to access your wallet immediately without any password or PIN.
Or assuming I were to die, and i wanted to leave any coins to loved ones, and lets say the device was lost but they have the recovery 24 word seed, would they will still need to know the PIN?
No. Only the seed is enough.
Basically when recovering with the original seed, is the original pin still required, or will the device accept a new PIN?
Only the seed is required to recover your wallet. You will be able to setup a new PIN.