Soon, the stars will be heading back to Los Angeles to work on the upcoming season of The Voice, premiering this fall on NBC.

"There's nothing like the in-person camaraderie with the other coaches, and it's more fun to give them crap in that live setting," says Shelton, who will be facing off against Stefani, John Legend and Kelly Clarkson. "You make a lot of friends on set, and I'm looking forward to getting back to that big extended family."

For all the details on Blake Shelton's happy life with Gwen Stefani and their new duet, pick up the latest issue of PEOPLE, on newsstands Friday.

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