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April 06, 2017 11:09 AM

To hear Pierce Brosnan talk about his wife Keely Shaye Smith, one might mistake the two for smitten newlyweds. But for the couple, together for over 20 years and married since 2001, longevity has only made the heart grow fonder.

“My wife and I took a short road trip up to Santa Barbara — we were going for a romantic weekend and to look at houses and drink great wine,” the actor, 63, tells PEOPLE in this week’s issue of his most recent road trip.

“We didn’t listen to any music, but we just listened to the sounds of each other’s voices and sorted out the world.”

Spending quality time together is a key ingredient of their happy marriage, and of any ideal day, says Brosnan. Asked to describe his last perfect day off, he answers easily: “It was yesterday,” says the actor, who stars in AMC’s new Western series, The Son. “I painted in my studio, then I went down and sat on the beach, read and did some drawing — and then I had lunch with Keely.”

Bruce Glikas/FilmMagic


For much more from Pierce Brosnan, please pick up this week’s issue of PEOPLE, on newsstands Friday


After picking up their son Paris, 16, from school and after he painted in his Malibu studio, Brosnan’s perfect day ended as it began: with Keely.

“Around 5 o’clock, I went out and watched the sun go down. Keely sat beside me, we had a glass of champagne and talked about the day,” he shares.

“It’s very simple — and the best.”

The Son premieres Saturday at 9 p.m. ET on AMC.

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