To make the cilantro pesto: In a food processor or blender, combine the cilantro, stock or broth, oil, garlic, lemon juice and hot-pepper sauce. Process until smooth and set aside.
To make the shrimp: In a large no-stick skillet over medium heat, warm the oil. Stir in the zucchini and carrots. Cover and cook, stirring occasionally, for 5 to 6 minutes, or until the vegetables begin to soften. Uncover and cook, stirring occasionally, for 4 to 5 minutes, or until the carrots are cooked. Transfer to a platter and set aside.
Increase the heat to medium-high. Add the shrimp and cook for about 1 minute per side. Add the stock or broth, lemon juice, lemon rind, garlic and reserved zucchini and carrots. Cook for 1 minute, or until the shrimp are cooked through. Serve with the pesto.