Paul Archuleta/FilmMagic
C. Molly Smith
April 12, 2016 AT 06:29 PM EDT

Full House costars John Stamos and Lori Loughlin recently reunited for Netflix’s revival, Fuller House, where they returned as Uncle Jesse and Aunt Becky, but the duo says their time on the update was much less a reunion, as they and other cast members have kept in touch.

“We never really were away from each other,” Stamos told EW on the TV Land Icon Awards purple carpet at the Barker Hangar in Santa Monica on Sunday. “It would be nice to spend some time apart and then get reunited, but we really, honestly never left each other and that’s why I think on Fuller House didn’t feel awkward. It was just natural.”

Loughlin echoed that feeling. “It was great,” the actress said. “I’d been in touch with John. It’s not like I didn’t see him after the show left. We’ve always been in touch, but it was fun to reprise those roles and play Aunt Becky and Uncle Jesse again. It was fun to be back on set with everyone, back in the same old house.” She added that she felt back at home after about 10 minutes, once the initial shock of seeing their old set reassembled had passed.

The pair appeared at the TV Land Icon Awards, which were held in celebration with Entertainment Weekly, as Stamos was honored with the Timeless Icon Award. Loughlin presented the award to him along with Fuller House’s Dave Coulier, Grandfathered’s Paget Brewster, and Happy Days creator Garry Marshall.

“I can’t even believe we’ve been in the business this long that he’s actually getting, I mean I can believe it because he’s so talented, but an Icon Award doesn’t seem possible, and he still looks like he’s 21, which is ridiculous,” Loughlin quipped. “I’m so honored that they’ve asked me to be part of the presentation. He’s one of my oldest, dearest friends.”

“We’ve known each other since we were teenagers,” she continued. “I love him passionately and he’s just such a good guy inside and out and as wonderful as he looks and seems on the outside to the viewers watching, like to those of us who know him, he’s even more beautiful on the inside, and he’s very philanthropic and always giving back. He’s just a great person, he really is.”

The TV Land Icon Awards air at 9 p.m. on Sunday, April 17, on TV Land.

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