Intimate relationships are crucially important in all human societies, yet many relationships are in some degree of distress. Couple psychotherapy has been demonstrated to be effective at reducing relationship distress, yet most couples do not seek help from professionals. Automated couples counselors could provide help to many couples who avoid professional help due to cost, logistics, or discomfort disclosing personal problems. We explore reactions to and acceptance of a humanoid robot that takes the role of a couples counselor in promoting positive communication skills among asymptomatic intimate couples. Couples were comfortable with the robot in this role; displaying intimate behavior during the counseling session. They followed the directions of the robot in practicing interpersonal communication skills, were largely satisfied with the experience, and described several advantages to working with a robot compared to human counselors or self-help materials.