Oceanic tides are a major source of tidal dissipation. They are a key actor for the orbital and rotational evolution of planetary systems, and contribute to the heating of icy satellites hosting a subsurface ocean. Oceanic tides are characterized by a highly frequency-resonant behavior, which is mainly due to the propagation of surface gravity waves in the case of thin oceans, and internal waves when they are deeper. In this work, we derive self-consistent ab initio expressions of the oceanic tidal torque as a function of the key physical parameters of the system (the ocean depth, the Brunt-V\"ais\"al\"a stratification frequency, the rotation rate, the tidal frequency, the Rayleigh friction). These solutions include the coupled mechanisms of internal and surface gravito-inertial waves, which allows us to study the case of planets hosting deep oceans and offer interesting prospects for the coupling between subsurface oceans and ice shells in the case of icy satellites.