Robin Roberts and Amber Laign are gearing up for an adventure!

The couple caught up exclusively with PEOPLE while attending the opening night of Broadway’s Call Me Izzy at Studio 54 on June 12. During the conversation, the pair — who married in September 2023  — revealed their upcoming anniversary plans.

“We've been married … It will be two years coming up,” Roberts, 64, tells PEOPLE. 

She adds, “And we're [actually going] to Rwanda. Because we wanted to celebrate that way, because our time together has been an adventure. And we thought what better way than to be with the gorillas ... in Rwanda?”

The couple, who met on a blind date in 2005, also shares the secret to their lasting relationship.

“We keep it fresh,” Laign tells PEOPLE. “You've got to keep it fresh, have our little date nights. We're on a little date night tonight.”

Roberts adds, “But also, I will say — and we're going to be honest — we've had peaks and valleys, many more peaks than valleys.” 

The Good Morning America host shares that “communication” has been key to their success, along with “not seeing each other through the lens of your childhood.”

“Because everything goes back to when you were younger,” she continues. “And so, we had to respect that we had different upbringings. It was really very helpful. Once we made that breakthrough. It really did help.”

What does a typical date night look like for the television host and massage therapist?

“A favorite restaurant at our neighborhood. We always just support local,” Laign explains.

Later in the conversation, Roberts also shares what a “perfect day off” looks like for her these days.

“What is that? What is this day off you speak of?” she jokes.

“A perfect day off is different for both of us,” Roberts admits. “Because my schedule is so regimented. Amber knows when she sees my calendar or whatever. A perfect day off for me is not having to do anything, but knowing I'm going to do something. But not having to do anything.”

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Roberts, who is relatively private about her relationship with Laign, initially announced their plans to marry on air on GMA in January of 2023 while discussing her intentions for the New Year. 

"I'm hesitating because I haven't said it out loud yet … I'm saying 'yes' to marriage," the host explained. "We're getting married this year." 

She continued, referencing Laign's breast cancer diagnosis, "It was something we had talked about but we had put it off, [Laign] became ill, but … it is saying yes to that next chapter."

The couple discussed their relationship and engagement on a special GMA segment later that year, as well as how the COVID-19 pandemic deepened their relationship.

"We had talked about marriage off and on during the course of our relationship, and it didn't come through for whatever reasons," Roberts recalled in the segment. "But after the lockdown, we were like, yeah, we kind of like being around each other almost 24/7."

The pair exchanged vows in Farmington, Conn., during an intimate backyard wedding the day after receiving their marriage license.