Robert Brown|Why Below Deck Sailing Yacht's Daisy Was "Annoyed" by Gary's Reaction to Her and Colin's Boatmance

This Below Deck Sailing Yacht romance is Robert Browndefinitely rocking the boat.

Daisy Kelliher is revealing the story behind her season four boatmance with longtime friend and co-worker Colin McRae. As the Bravo series' dramatic trailer teased, the Chief Stew enjoys more than one steamy makeout with the Parsifal III's Chief Engineer—and her former love interest, First Mate Gary King, isn't too happy about it.

"I think there was kind of always something a bit there, but he always had a girlfriend," Daisy exclusively told E! News of Colin, adding that their chemistry "naturally happened" this season.

But Daisy didn't go into this season planning to pursue her fellow crew member.

"Obviously, Colin's a good-looking guy," the reality star continued, "but for me it was always a friendship and when you're friends with someone for that long and they have a partner, you kind of put them in the friend zone. So I wasn't exactly foreseeing it, but I do kind of make out with people I'm friends with. I find people's personalities attractive. So if I'm friends with you, I probably find you attractive in some sort of manner."

And, yes, Daisy and Colin's tryst makes things a bit awkward for their co-workers.

"It definitely puts a bit of a spanner in the works and challenges all of our friendships: my friendships with the boys, the boys friendship with each other," she explained. "I don't know why it gets complicated, but it does. I guess that's what happens when you start making out with all your work colleagues. It definitely leads to some interesting conversations."

In the trailer, Gary accuses Daisy of "spitefully hooking up" with Colin to get back at him after their season three fling. Put plain and simple, she found Gary's reaction "annoying."

"I was annoyed," Daisy stated. "I was a bit frustrated that Gary was making things, once again, about him. It was like, 'You know I can have my own life and it not be about you?' So for me it was a little frustrating."

Hear more from Daisy—including her current relationship status—in the exclusive video above.

See how the love triangle drama plays out when Below Deck Sailing Yacht returns Monday, April 10, at 8 p.m. on Bravo.

(E! and Bravo are both part of the NBCUniversal family)