A rotary steerable system (“RSS”) includes a drive coupling having a first section adapted for connection within a drill string and a second section adapted for supporting a drill bit. A flexible joint connects the first section to the second section for transmitting drilling loads, such as torque and weight, therebetween and permitting pivoting of the second relative to the first section. A tubular sleeve is disposed about the flexible joint and at least portions of the first section and the second section. The tubular sleeve is connected to the second section for movement therewith and is sized to permit pivoting movement of the tubular sleeve relative to the portion of the first section disposed therein. At least three actuators are carried by the portion of the drive coupling's first section that is disposed within the tubular sleeve for applying a pivoting force to an inner surface of the tubular sleeve when activated.