"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 and his wife Mary Steenburgen don't have date nights anymore. At 76 years old, Danson joked that he takes his wife on "date early bird specials."

Just a year before meeting Steenburgen, Danson tells PEOPLE he had committed himself to being a better man: "I worked very hard at it or I don't think Mary Steenburgen would've even seen me"

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

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