June 03, 2013 07:30 PM

Eric Charbonneau/Wireimage

A visit to the set of mom Alyssa Milano‘s new show Mistresses proved that son Milo Thomas definitely has his anatomy down pat.

When the actress and her now 21-month-old ran into costar Jes Macallan, Milo was more than happy to keep her abreast of his skills.

“She was in a bathing suit and he looked at her and he went, ‘Chi chis!’ He’s a breastfed baby,” Milano, 40, told PEOPLE during the TCAs.

But nursing Milo was nothing new to the cast and crew, says the proud mama, who recalls having to routinely request quick trips to her trailer to pump.

“Everyone had to be very patient with me when we filmed the pilot of the show because I was still breastfeeding,” Milano says.

“Every two hours they shut down production for 20 minutes and allowed me to pump, which was lovely … and odd.”

Mistresses premieres Monday at 10 p.m. on ABC.

— Anya Leon with reporting by Michele Stueven

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