"Every night when we go to bed and I climb in bed and I see him laying there, I go, 'The feeling I get crawling in bed with you every night is like when I was little and my mom used to say your best friend can sleep over tonight,' " McCarthy told PEOPLE in N.Y.C. Thursday while promoting her upcoming SiriusXM show, Dirty, Sexy, Funny with Jenny McCarthy. "He definitely brings out the best in me, and I think I do the same for him."
"He's on his back and my head is on his chest, and his arm is around me," says the star. "I say, 'I love you,' he says, 'I love you, too,' and we kiss and we fall asleep in that position. And I want to say more times than not, we wake up in that same position."