Mathis Family Matters Star Greg Mathis Jr. Marries Elliott Cooper in Intimate Family Wedding in Mexico! (Exclusive)

Greg Mathis Jr. and Elliott Cooper are married!

The Mathis Family Matters star, 35, and Cooper, 40, tied the knot on Oct. 21 during a five-day destination wedding at the Waldorf Astoria in Cabo San Lucas, Mexico. They were joined by just 15 guests for the intimate, family-only nuptials.

The couple — who is planning a second, larger celebration in Los Angeles next year — tells PEOPLE they wanted their Mexico wedding to "feel like a family trip" and be an opportunity to spend meaningful time with the people closest to them. For Greg and Cooper — who came out and shared their relationship with the world on the E! reality series in 2022 — family is at the core of their connection.

"Family is one thing with Greg and I that really solidified our relationship in the beginning," Cooper explains. "Family is super important to me and us because we know that they love us and we love them without any hanging things. It's not transactional, it's just pure."

As for their wedding location, Cabo holds a special place in their hearts.

"When we first started dating, the first trip I took Greg on was to Cabo," Cooper says. "It was a surprise birthday trip where I had family do a personal video for him."

Since then, the Mexico hotspot has become one of their favorite vacation destinations. "We love the beach … and the ambience has such a natural beauty," he explains.

Greg — whose father is the courtroom television star and judge Greg Mathis Sr. — adds: "We selected the actual resort because on our last family vacation, we went there for Christmas and we had dinner at El Farallon, the restaurant at the hotel, and we were like, 'This is where we want to get married.' "

Fittingly, the couple, who worked with event planner Andrew Roby, embraced a "casual, but elevated beach" theme, with lots of dark purple, navy blue and black décor accents with pops of yellow.

Following a welcome dinner at Nobu in Los Cabos ahead of the wedding, the couple and their guests gathered for the emotional ceremony, which was officiated by Greg and Cooper's fathers. Greg says he came up with the idea to have the two team up for the important role.

"Because my dad is a judge — a famous one too — he's officiated everyone else's wedding," he explains. "And so I have always seen him in all these weddings across the country and I've just always had his vision in my mind of when I get married. [I thought], 'I hope that the person I marry is going to be okay with this because I want my dad to officiate my wedding.' And Elliot's dad [Sergeant Calvin Cooper] is actually in law enforcement too, which is funny. It's a note about us that we always laugh about."

Greg adds that the role presented a special way for the men to be involved in the ceremony.

Both grooms wore custom, high-waisted suits from Sperdon Clothing — navy blue for Greg in a nod to his alma mater, The University of Michigan, and purple for Cooper in honor of his mother who died from lupus when he was in college.

"We both wanted a look that was classic, but also with some flair and our own personal style and touch," Greg notes of their wedding attire.

The pair — who first met through mutual friends on Valentine's Day in 2016 — exchanged traditional vows in a ceremony featuring a live performance of Luther Vandross' "Here and Now" by Broadway star Kyle Freeman. "It's always been one of my favorite love songs," Greg notes, "and then I think when we discovered we both loved it, we were just like, 'Oh, look at that.' "

"When you start really listening to what [Vandross is] saying in that beginning and everything, it really just ties in everything about our relationship," adds Cooper.

When the reception kicked off, the newlyweds changed into second looks from Sperdon and joined their guests for dinner with a custom menu including some of the grooms' favorite seafood items such as Baja lobster, bluefin tuna and fish tacos. Dessert was slices of the three-tier wedding cake.

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Leaning into the "family trip" vibes, the couple planned a variety of fun activities for their families during their time in Mexico, including a whale watching experience and a tequila tasting.

Following the wedding, Greg and Cooper planned to take a honeymoon — they are still deciding between Bora Bora and a safari in Africa. As for what's next for the couple, they are looking forward to settling into their new home in Los Angeles and hoping to start a family together.

"We're talking more about kids as far as the next big chapter, and then just continuing to really grow together," Cooper shares.

Reflecting on their big day, Greg says it's difficult to put into words just how special the experience was. "I would definitely say it's a dream come true. I know that's cheesy, but it is. It's everything I've ever wanted," he tells PEOPLE.

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Asked what being married means to him, Greg points to the "permanency" of the commitment he's made to Cooper. "I feels like a level of security. Not that I needed that, but it just felt like I woke up after processing some of this and just the permanency of it all and I was like, 'This is my husband,' " he explains.

"It feels special to be able to commit my entire self to somebody else for the rest of my life," he continues, adding, "I finally feel like an adult. Like real life's about to start."

PEOPLE and BRIDES are teaming up to share all the biggest moments from Greg Mathis Jr. and Elliott Cooper's dream wedding day. Stay tuned to People.com and Brides.com for all the exclusive photos and details.