"Slant Magazine" praised it as a "subtler alternative" to radio trends by artists such as Mariah Carey and Boyz II Men, adding "with its measured hip-hop loop and titular one-line hook, the song was sleek, smart, and sexy—everything you didn't expect from the lead single from a Janet album." Furthermore, an anecdote stated "this song smashed records worldwide, and heralded the arrival of a grown woman comfortable with her own sexuality. Fans and music lovers were left gaping in awe as Janet shed away her military style outfits and did away with her tomboy looks, resurfacing as a strong confidant woman and a global pop icon with the release of her 1993 iconic album ‘"Janet."’, which went on to produce 6 consecutive top 10 hits including 2 # 1 singles, and pushed her ahead of her contemporaries Madonna and Whitney Houston." Several critics applauded the song's opening refrain as "seductive," "memorable," and "hypnotic", with a particular review exclaiming "Janet makes it read like poetry." The analysis continued "realistically, no one had any reason to think she was sexy enough to pull it off. Where Janet used to hint at getting it in, she now openly admitted to wanting it without hesitation; "Go deeper baby, deeper...you feel so good I wanna cry." At 25, it made sense for her to give up the coyness of her earlier years. But, who knew she'd pull it off quite so well?" Heidi-Siegmund Cuda of "The New York Times" declared the song to have a profound effect in clubs, saying "love was in the air, as couples lapped it up and slinked along to the beat."