Gabriel came up with the lyrics based on some phrases he had kicking around: "Like to be liked, need to be needed, want to be wanted and love to be loved."
The lyrics are about Gabriel's fear of dedicating himself to his relationships. He dedicated Us to his ex-wife, Jill, his 2 daughters, and actress Rosanna Arquette, who he was involved with in the early '90s.
At the end of the song, Gabriel details how he spent significant time in therapy, which he considered money well spent.
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