The former 'Star Trek' star spoke of his admiration for the ex-'EastEnders' actor as they - along with Martina Navratilova - created awards for all of the 'I'm A Celebrity... Get Me Out Of Here!' contestants Awarding Joe A Man For All Seasons prize, George said: "You love and embrace everyone, creative, inventive, principled and defined by your big heart.
"If you weren't straight I'd jump into bed with you if my husband wasn't there!"
George was honoured with the King Amongst Men award, as the tennis legend paid tribute to the "pleasure, happiness and laughter and a great attitude" he had brought to the camp, while Joe decided that Martina was Superwoman, adding she was: "An unsung hero, kind, affectionate, beautiful - a true champion."
As attention turned to their former camp mates, Robert Kilroy-Silk - who was first voted off the show - earned the title of Conqueror of the Creepy Crawly for his prowess in the Bushtucker Trials.
Dani Behr's cooking was acknowledged as she was named Queen of the Stir Fry, with Timmy Mallett named King of the Cackle for his constant amusement.
Carly Zucker was named Angel of the Night by a thankful George, who said: "She looked after me when I needed help in the night."
Esther Rantzen - as well as being called Joe's mum figure and history teacher - was officially titled Renaissance Woman by the trio, while former police chief Brian Paddick was The Naked Sheriff in honour of his nude bathing ritual.
Glamour model Nicola McLean was Biggest Boobs in Camp, Simon Webbe the Gentleman Prince, while attention-loving David Van Day was dubbed Camp Camera Hog.
Comments: Our rules
We want our comments to be a lively and valuable part of our community - a place where readers can debate and engage with the most important local issues. The ability to comment on our stories is a privilege, not a right, however, and that privilege may be withdrawn if it is abused or misused.
Please report any comments that break our rules.
Read the rules here