"It was really down-to-earth, it was really comforting," said Joe of the sexy, poolside photo shoot for PEOPLE

By Lanford Beard
August 17, 2015 09:00 AM

Sunday’s episode of Bachelor in Paradise featured a steamy poolside photo shoot featuring season 2’s unexpected villain Joe Bailey and his dream woman Samantha Steffen, and now PEOPLE has the inside scoop from the potential new couple.

“It was really down-to-earth, it was really comforting,” said Joe, who created a rather uncomfortable situation back in the house by allegedly leading on fellow contestant Juelia so he could stay on the show until Samantha arrived.

Samantha – who had just joined the cast in Paradise before being whisked away for her first one-on-date at the PEOPLE photo shoot – called the Vidanta Resort in Nuevo Vallarta, Nayarit, Mexico, “the most beautiful setting ever,” and said, “I think being with him went super well.”

Between shots of the new twosome kissing in the pool and in the shower, Joe couldn’t help but point out his “romantic chemistry” with Samantha, saying, “I think that our actions will speak louder than our words … it was a great feeling.”

Since Joe hopes to begin his own journey to love with Samantha, he said, “I would hope that it would be as good as this every date. … I’m looking forward to it. The perfect date, the perfect person.”

Even as Samantha sat perched atop Cloud Nine, and despite the fact that she hadn’t yet gotten the inside scoop on everything that went down before she arrived in Paradise, she was already cautious about coming down from the “perfect date” and returning to the house: “I’ve heard there’s drama.”

RELATED VIDEO: PEOPLE Heads to Paradise: Hear All the Behind-the-Scenes Scoop from Bachelor in Paradise

Bachelor in Paradise airs Sundays and Mondays (8 p.m. ET) on ABC.