"That's always existent in our relationship, but I think we're enjoying taking it at our own pace and it's something we're not afraid of," Kendall, 28, told Us Weekly of getting engaged during Monday night's Dancing with the Stars show, which she had attended to support pal Hannah Brown.
"It's something we're going toward. I think every day we get a little bit closer to seeing our future together and picturing our future together, so it's exciting to take it day by day."
Joe, who competed on Dancing with the Stars' 27th season, added the couple does not "feel any pressure" to rush into a serious commitment.
"We're just enjoying ourselves and we're going to have as much fun as we can," Joe, 33, explained. "And you never know when it's going to happen!"
Joe actually teased a marriage proposal "may just happen" when the pair heads to Japan next week, which is a trip they "really wanted to do" together after first meeting on Bachelor in Paradise's fifth edition.
"This is what I can say: I'm a very sporadic person," Joe shared with Us.
"I could wake up one day and be like, 'You know what? I'm going to go get a ring and I'm going to ask her today.' That could happen. That's probably how it's going to go down."
Kendall said she and Joe have yet to go shopping for an engagement ring together but he's pretty aware of what she'd like him to put on her finger.
"I'm not really traditional. I like all kinds of different stones," Kendall said. "I'm not really specifically into diamonds. I like things that are vintage and passed down."
Kendall and Joe, a Chicago native and grocery store owner, took a major step in their relationship in April when they revealed they had moved in together in West Hollywood, CA.
Although Joe and the taxidermy enthusiast began dating on Bachelor in Paradise's fifth season, which aired last summer, Kendall blindsided and dumped him during the penultimate episode after he professed how he was falling in love with her.
Kendall found herself making a stream of excuses on the beach in Mexico as to why they wouldn't work, but Joe called her out for simply being unaware of her feelings for him or not reciprocating them at all.
Joe therefore left Paradise confused and heartbroken, while Kendall clearly felt there was more she could have said and the pair had unfinished business.
"I felt an immediate regret as soon as Joe walked away... I kept running away from the fact that I was falling for him," Kendall admitted to People in September 2018.
"I went into Paradise thinking you need to date, you need to be open-minded, you need to experience people... I also had so much fear about getting hurt... It freaked me out to think I would invest myself in him and then it would break apart after the romantic beach vacation was over."