David Browne of "Entertainment Weekly" described it as "gently percolating pop" and "easygoing", with another critique stating "the sexy lyrical composition blends well with the seductively arranged harmony of the song." Bjørg Tulinius from Danish magazine "Gaffa" picked the song as one of "the best numbers" of the album, describing it as "soul-imprinted". "Los Angeles Times" described "That's the Way Love Goes" as "one of the most endearing pieces of romantic pop confection of the '90s", adding "the song is a highlight of Jackson's latest and best album, "janet.," a "silky collection" exploring "questions of sexual awakening and desire with a classy sense of pop craft and convincing passion." The publication also stated "Summer pop doesn't get any smoother or more seductive," likening its quality as unheard for several decades, adding "You might have to go all the way back to Smokey Robinson and the Miracles or, even, the Drifters to find summer pop as silky and as inviting as this." Editor Maureen Sajbel considered it a "gentle love ballad". MTV considered it "sultry, slow-burning". "Music & Media" commented that "romance is back, and so is Janet, who writes the handbook of love on a beat similar to Charles & Eddie's Would I Lie To You. Exploring the borders between jazz dance and swing beat, Jackson is breathing sensuality."