"My first thought of you was, 'Well, this is the most ridiculous creature I've ever met,'" Steenburgen told Danson of her initial impression.

"To both of us, it's like heaven on Earth," Danson tells PEOPLE of his morning routine with his wife of nearly 30 years

"I was not really fully emotionally baked until shortly before I met Mary," Ted Danson, who married Mary Steenburgen in 1995, said.

Ted Danson expressed how grateful he is for meeting his wife Mary Steenburgen in his 40s. In an exclusive interview with People, The Good Place alum claimed that the couple never would have

Ted Danson, who stars in Netflix's new series 'A Man on the Inside', opens up to PEOPLE in this week's issue about why he's confident he and wife Mary Steenburgen wouldn't have worked out had they met earlier in life.