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September 10, 2015 09:00 AM

It’s been a few years, but Seal is releasing new music – and PEOPLE has an exclusive first listen to his latest single!

“Every Time I’m with You” – which, sonically, is in the same vein of the soulful, romantic crooning that shot him to R&B fame – is the first track to be released off his upcoming album 7, which drops Nov. 6, PEOPLE can exclusively reveal.

“The inspiration was romance, to be quite honest,” the singer, 52, tells PEOPLE. “I tried to think of the one thing that somebody who was in love would want to say to their loved one and also say the thing that they would most love to hear, and I couldn’t imagine anything more romantic than: ‘Every time I’m with you, I feel wanted.’ I felt that that was a very romantic thing to want to say to someone and also to want to hear from your loved one.”

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Seal thinks 7 is his “most consistent” album yet. Even so, the star could never choose a favorite track … “’cause they’re like children, he says. “You learn to love all of them equally, so you don’t really have any favorites.”

As for what his real-life kids – Leni, 11, Henry, 10 this month, Johan, 8, and Lou, 6 this month, with ex Heidi Klum – think of his new music?

“I guess they’re more into people like Taylor Swift, so Dad’s been superseded,” the singer jokes. “But they do sing along to some of them.”

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