Mary Steenburgen Admits Best Part of Her Day Is When Ted Danson Does This

It’s the little things that matter most when it comes to Mary Steenburgen and Ted Danson’s 30-year marriage.

Every morning, without fail, Danson, 77, does this for his wife to start the day. Even when their schedule changed to accommodate Steenburgen, 72, joining the second season of Danson’s hit Netflix series, A Man on the Inside, Danson still performed this romantic gesture.

“One of the best parts of [every day] is that he makes my coffee every morning,” Steenburgen tells PEOPLE. “And I can’t ever be mad at him for anything because that one act is the best thing in the world.”

“It’s me at my most manly, to be honest,” adds Danson. “I forage for coffee.”

When it comes to their relationship, both agree they’re grateful to have found each other when they did. Married since October 1995, the two began dating after first costarring in the 1994 film Pontiac Moon. Danson had finalized his divorce from his second wife, Casey Coates, with whom he shares daughters Kate and Katrina; Steenburgen was raising her kids Charlie and Lilly after ending her marriage to actor Malcolm McDowell. 

“He knows the most petty, small, ugly parts of me. And he knows the highest, soulful, aspirational parts and somehow loves the whole thing,” says Steenburgen. “And I’ve been extremely honest with him. That was important to me. We both feel that.”

Danson insists “the only time we fight or get angry with each other is when I’m wrong,” he adds. “Because she’ll point something out that disappointed or angered her or hurt her feelings, and I just refuse to be that person. So I argue and resist until I finally go, ‘Yeah, yeah, that’s me.'”

Their favorite thing to do together? “Family, kids, dinner,” says Danson. “Yeah, kids and our dog,” adds Steenburgen. “Singing stupid songs about our dog. Saying what he’s thinking about the other person. But at the end of the day our favorite people to hang out with are our kids. We find them hilarious and fun and interesting people. It’s just a really beautiful family with a lot of funny, wonderful babies and kids.”

As for the secret to their successful marriage, Danson says it helps that he’s “madly in love with her. I really admire her.” And for Steenburgen? “I’d say it’s the laughter,” she says. “It’s pretty hard to resist, and it diffuses everything… Even when he’s wrong.”

Adds Danson: “Which means she’s laughing nonstop.”

Season 2 of A Man On the Inside is now streaming on Netflix.