Derek Hough: 'It's Going to Be a Happy Final'

It's down to the final three couples on this season's Dancing with the Stars, and to say the competition is getting fierce is an understatement!

ET was there as the finalists rehearsed for tonight's finals, where they all shared just how badly they want that mirror ball trophy.

"I could just taste it," Derek Hough jokes about how close he and partner Ricki Lake are to winning the title.

But he's quick to point out that he has nothing but love for his fellow finalists.

"It's kind of a happy final," he says. "We're all happy to be there and all kind of rooting for each other ... so it's good. It's going to be a happy final."

MORE: The Most Impossible Week on 'DWTS'?

Meanwhile, dark horse contestant Rob Kardashian is taking a more serious approach to the finale.

"I always wanted to make it to the finals," he says. "I feel like we [he and partner Cheryl Burke] are peaking just at the right time, transitioning right into the finals, and it's kind of how we dreamed it would go."

And is his sister Kim jealous that he has made it this far in the competition, when she was voted off third during season seven of Dancing with the Stars?

"My sister from day one, like the rest of my family, is obviously rooting for me. That's my family," Rob stresses. "They're only supporting me. They want me to win."

MORE: It's a 'Tough Time' for Kim, Says Rob

As for fan favorites J.R. Martinez and Karina Smirnoff, they're clearly focusing on the freestyle dance to help them win the fierce competition.

"We do mainly salsa," Karina reveals. "But then we spiced it up with Afro Cuban and Reggaeton dancing. Nobody has ever done it on the show."

"It's pretty hot," J.R. teases.

MORE: J.R. and Karina Reflect on Their 'Perfect' Dances

Check out the video to see a taste of the dancing skills the finalists are bringing to tonight's highly anticipated finals.