My family was the same when i was growing up, no-one ever said I love you, and they still don't! I tried saying it to every member of my family once and they all freaked out and thought I was dying or something.

So now that I have my DD I tell her so heaps of times everyday! It feels so good telling her even though she can't understand me, i'm sure she knows. DP and I tell each other I love you literally 50+ times a day.