July 31, 2017 05:30 PM

Having kids means doing the dirty work and no one knows this better than Scott Foley.

The father of three opened up about a typical evening in the Foley household, telling PEOPLE that his family prefers to keep things “fresh and exciting” when it comes to mealtime.

“Yesterday, my 2-year-old pooped at the dinner table; it was fresh,” Foley, 45, confesses about his son, Konrad, who turns 3 in November. “I picked him up, ran him to the bathroom and it was exciting because once he got in the bathtub, he started drinking the poop water.”

Despite the dinner interruption, Foley and his wife Marika Dominczyk, 37, have learned to take it all in stride. The pair, who are also parents to daughter Malina, 7, and son Keller, 4, seem to enjoy the daily adventures with their little ones.

“That was fresh and exciting,” he jokes. “I guess it depends on your definition of that, but for us, that was fresh and exciting. It was something new.”

FROM PEN: Inside Sean ‘Puff Daddy’ Combs’ Life At Home with Six Kids: ‘I’m the Luckiest Man in the World’

This isn’t the first time Foley has embraced the chaos that comes with having three children and a dog.

“My new motto is, ‘Just give me the mess,’ ” he told PEOPLE in September 2014. “Just throw it all my way. I’ll take it, it doesn’t matter.”

Aside from his family, the actor has also been staying busy prepping for the seventh — and final — season of Scandal.

Season 7 of Scandal premieres Thursday, Oct. 5, at 9 p.m. EST on ABC.

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