Ted Danson Apologizes to Cheers Costar Kelsey Grammer for 30 Years of 'Missed' Friendship: 'It's My Bad'

Ted Danson and Kelsey Grammer are reflecting on their friendship and what it could have been.

On the Oct. 23 episode of SiriusXM’s podcast Where Everybody Knows Your Name, hosted by Danson, 76, and Woody Harrelson, they welcomed Grammer, 69, who costarred with them in the sitcom Cheers. During the episode, the former costars discussed their friendship and what it was like off-camera.

Danson recalled a moment in which he felt frustrated with Grammer, who played psychiatrist Dr. Frasier Crane, while filming the show. "This isn't self-deprecating, but I wish — I feel like I got stuck a little bit with you during the Cheers years. I have a memory of getting angry at you once," Danson told his fellow actor.

"Yeah, you came and told me that one day," Grammer, who also starred in the show's spinoff series Frasier and its recent reboot, replied.

"And it's stuck in both of our memories," Danson continued. "But I feel like, f---, I don't know. I missed out on the last 30 years of Kelsey Grammer, and I feel like it's my bad, my doing, and I almost feel like apologizing to you."

"I apologize to you and me that I sat back, you know, and didn't. I really do apologize," Danson added.

Grammer went on to share how, despite their disagreements, Danson offered him words of advice that he still quotes to this day. He said, "When I turned 40, you came up and said, 'You know what it means, don't you? Now that you're 40, it means you're finally worth having a conversation with.' "

"That was f--ing brilliant," Grammer added. "I always loved that. And I thought about it, and I've repeated it. My love for you has always been as easy as the day. You know, as easy as the sunrise."

"Mine too," Danson replied.

Grammer noted that even though they spent so much time filming together, they often ventured off on different paths after work. However, their bond on set remained strong. He explained that he learned from director James Burrows how important it was to show up for a shoot and simply be funny together.

“He recently said, we were doing an interview together and he said, ‘You got to have an oar in the water,’ " Danson added about his relationship with Burrows, 83. "I’d never heard him express this before, but he said, ‘As long as everybody’s got their oar in the water and they’re pulling, then I’m happy.’ I thought, ‘Yeah, makes a lot of sense.’ And we’re still working together. I mean, he’s done, you know, he does four shows in the last bunch and it’s been great working with him.”

Never miss a story — sign up for PEOPLE's free daily newsletter to stay up-to-date on the best of what PEOPLE has to offer​​, from celebrity news to compelling human interest stories. 

Prior to the podcast, the former costars also reunited in January during the 75th annual Primetime Emmy Awards alongside the show's other actors Rhea Perlman, John Ratzenberger and George Wendt. The group appeared onstage standing around a replica of the show's set at the titular bar, with Danson and company behind the bar as host Anthony Anderson introduced the reunion.

"Anthony, thank you for getting us all here," Danson said. "Ah, this feels so nice to be here in front of all of you, thank you."

"Ted, don't you just think about it as a long overdue class reunion, huh?" Ratzenberger added. "Being together brings back some great memories from show we're all very proud of."