The Power Book III: Raising Kanan star, 40, recalls the iconic actor making a surprise appearance during the table read for the show's season 2 finale -- and tells PEOPLE how glad she is he's stuck around.

"That's my guy right there. I love Tony," Miller says of Danza, who plays mafia boss Stefano Marchetti in the Power prequel series. "It's Tony Danza!"

"I remember seeing him pop up on one of the Zoom screens. No one told us that he was joining the show at the end of season 2, and he was randomly in his cooking apron. I think he was baking a lasagna or something weird," she recalls.

"We were all on the Zoom like, 'What is he doing right now?' And he's baking a lasagna."

Since his debut in the season 2 finale, Danza's Stefano has become a recurring character in the series and becomes even more integral to the story in season 4, Miller says.

"He and I work closely this season. Stefano becomes a bigger influence. They're now business partners, so you get to watch that partnership blossom -- or maybe it doesn't."

Regardless of how their characters fare onscreen, she says of working with Danza, 73, "Honestly, I have to say, Tony is the best. I have loved working with him."

Danza similarly raved to PEOPLE about working with Miller ahead of Raising Kanan's season 4 premiere on March 7.

"Patina's doing unbelievable work," he says. "When you act with her, she don't let you off the hook, because she's right there ... You look in her eyes, she's not thinking of her lines. She's not. That's one of the best parts of this whole thing -- working with her."