Tom Selleck on the Future of Blue Bloods: 'I Don't Think There Is an End Point'

"I love them all," says Tom Selleck of his Blue Bloods costars

Blue Bloods is wrapping up its tenth season, but star Tom Selleck says the beloved CBS family drama series could be around for a long time yet.

"I don't think there is an end point," Selleck, 75, who plays law enforcement family patriarch Frank Reagan, tells PEOPLE. "I think there is a lot of life in the show, as long as you let your characters grow and get older."

Continues the Hollywood veteran: "There is an evolution. It started out as a character-driven show and it's even more than that now. When you get to a point like this, and we certainly had it on [Magnum P.I.], the audience is really inside the main characters' heads," Selleck says, referencing the 1980s series that made him a star.

And Selleck says he's long felt a "kinship" to his onscreen family, including Bridget Moynahan, Donnie Wahlberg and Will Estes. "I love them all," says Selleck. "We're all friends."

The actor is especially grateful for the camaraderie on the set. "I've guested on quite a few shows that weren't always fun," he says. "There were tensions and egos and civil wars going on, and I said to myself, if I ever get a show, I'm not going to let that happen."

And there are plenty of lighthearted moments on the show, which ceased production early due to concerns over COVID-19.

"Our dinner party scenes are like a reunion of friends," Selleck says. "Sometimes it's hard for the directors to get us to concentrate. We do the work, and we do it well, but we're also screwing around and kidding each other and catching up. What we have is truly a blessing."

The Blue Bloods season 10 finale airs Friday at 10 p.m. ET on CBS.

Related: Tom Selleck Net Worth & Biography - Mixxerly

Tom Selleck Says He'd Join a Friends Reboot If Asked: 'It Was a Great Place to Work'

"If the opportunity came up, I'd do it again!" the actor tells PEOPLE

Remember The One with Monica and Richard?

It's been two decades since Tom Selleck's last appearance on Friends, where he played Richard Burke, the older paramour of Courteney Cox's character, Monica Gellar. But the veteran actor says he retains plenty of happy memories of his time on the show.

"It was a great place to work," the Blue Bloods star, 75, tells PEOPLE. "The actors were grateful for the opportunity and they were all as good as you can get."

On the show, Selleck's character Richard was an ophthalmologist and family friend of the Gellar parents before he fell in love with Monica, 21 years his junior.

Selleck, who had previously done a screen test with Cox, admits he had some nerves once he signed on to play the role in 1996.

"I hadn't done a three camera live show since Taxi," says Selleck. "It scared me a little. But that's the price you pay for opportunity!"

Initially, Selleck signed on for only three episodes, but at the table read for what was set to be his last, "They said, 'Hey can you do a few more?' " recalls Selleck. "So then I did more. And I quickly realized, 'Wow, this is a big deal.' "

Selleck returned in 2000, when Richard briefly threatened to break up the relationship between Monica and Chandler, played by Matthew Perry.

"It just worked," says Selleck of his role and the camaraderie amongst the cast. "I thought it was great."

As for the much anticipated Friends reunion, set to air on HBO Max later this year, "they haven't asked me" to be a part of it, says Selleck. "But if the opportunity came up, I'd do it again!"

Blue Bloods airs Fridays (10 p.m. ET) on CBS.

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