The pair finally kissed in last night's episode of the ABC comedy-drama, but as part of a decoy operation.
"We know we have to try to keep that romantic tension there [but] we also know that we have to satisfy the audience from time to time," Marlowe told Entertainment Weekly. "There's a hell of a lot of storytelling after [the kiss] so we will take our time, pace ourselves but also be true to these characters and honest about their emotions."
He confirmed that the crime-solving duo will "wrestle with their emotions" following the kiss.
"We will be dealing with emotional aftermath and how they feel about each other as we roll towards the conclusion of the season," he said. "[But] I don't know if they're going to address [the kiss] directly. They may."
Marlowe also revealed that the show's writers had not considered making the kiss a genuine romantic moment.
"We always like things with a twist," he claimed. "The thing about Castle and Beckett's relationship is that it's always surprising and always seems to sneak up on them when they're not looking."
Castle airs on Mondays at 10/9c on ABC.