Here are a few options:
* Informal and sweet: Αγαπώ τη γιαγιά και τον παπού μου (Agapó ti yiayá kai ton papú mou) - This literally translates to "I love my grandmother and my grandfather." The use of "μου" (mou) makes it possessive. This is a very natural and common way to say it.
* Slightly more formal: Αγαπώ πολύ τη γιαγιά και τον παπού μου (Agapó polí ti yiayá kai ton papú mou) - This adds "πολύ" (polý) meaning "very," making the affection stronger.
* Using the diminutive: If you want to express even more affection, you could use the diminutive forms of γιαγιά (yiayia) and παπούς (papous), although this might depend on your family's specific usage: Αγαπώ πολύ την γιαγιάκα μου και τον παπούλη μου (Agapó polí tin yiayáka mou kai ton papúli mou). This is very endearing.
The first option (Αγαπώ τη γιαγιά και τον παπού μου) is probably the most versatile and appropriate for most situations.