"I'm going to miss, of course, sleeping with him at night and cuddling with him," Teresa, 43, told Entertainment Tonight in an interview that aired Tuesday. "I'm going to miss the passion." (Passion is right: Teresa told PEOPLE in February she "would love to take a Jacuzzi bath with my honey" once her ankle bracelet was removed.)
"I just want to get [out] as quickly as I can and do whatever I can to get out of there," Joe told ET.
Joe also faces the possibility of deportation once he is released, a topic that has weighed heavily on the family.
"There's a chance of anything happening," Joe said of the likelihood of him getting sent back to Italy, where he was born. "There's nothing in life that is certain but I mean, we'll deal with that when I get out."
"We're just taking it day by day," Teresa added.
VIDEO: Teresa Giudice Shuts Down Reports That Joe Cheated While She Was in Prison
Joe also hopes to kickstart a healthier lifestyle in prison: "I haven't stopped drinking in I don't know how long, so I could definitely use it just for that, which is probably going to be a good thing for me, health-wise," he said. (He echoed a similar sentiment to PEOPLE in February, admitting he "drank every day a couple of bottles at night just to go to bed" the whole time Teresa was gone.)
When it comes to the couple's four daughters – Gia, 15, Gabriella, 11, Milania, 10, and Audriana, 6 – Joe said they are aware of the situation their father is facing.
"They go on computers, they know everything," Joe said. "My daughter Milania tells me, 'You're going away for a lot more months than Mommy!' "
As for the future, once their legal setbacks are behind them, the Bravo star couple is hoping for a bit more privacy. When asked where they see their family in five years from now, Joe said, "Home, with our gates closed. No cameras."