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

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

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.