September 22, 2016 01:00 PM

As a mom, it can be hard to relinquish control when it comes to raising kids — but even the stars have learned that sometimes it’s okay to accept help.

Garcelle Beauvais, Soleil Moon Frye, Molly Sims and Haylie Duff got together for PEOPLE’s Mom Talk video series, which is now live on PEOPLE/Entertainment Weekly Network, to discuss when they do — and don’t — take advice from other moms.

“I believe in it takes a village,” Beauvais, 48, admits, “so I love when I get help from my friends, strangers.”

It’s a sentiment Frye — mom to daughters Poet Sienna Rose, 11, and Jagger Joseph Blue, 8½, and sons Lyric Sonny Roads, 2½, and Story, 4 months — definitely echoes.

“I’ll take all the help I can get. The first time, I held on to the baby and wouldn’t let anybody else hold her,” she says, laughing. “Now I’m like, ‘Please take him.’ My third child, I’m throwing him into people’s arms.”

Watch full episodes of PEOPLE’s Mom Talk now at People/Entertainment Weekly Network. It’s free, and it’s available on streaming devices, including Apple TV, Roku, etc. Just download the PEN app on your Smart TV, mobile and Web devices, or you can check it out at people.com/PEN.

Courtesy Goldberg Family

Sims, however, was initially hesitant to take on help — and admit she needed it.

“I always thought I was quite sure of myself about certain things,” she says. “But I think the one thing I’ve learned being a mom is to try not to judge. And it’s hard, some people will give me advice and I’m like, ‘There is no way, girl, I’m doing that.’ “

And for some, all it took was a pacifier for a change in attitude.

“For me, the big turning point was deciding to give [my daughter] a pacifier,” Duff says. “I called one of my girlfriends and I was in tears because she really wanted it, I was like, ‘Beverley, what do I do?’ and she was like, ‘Get her on a pacifier, who cares!’ “

— Lindsay Kimble

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