"We have a big task ahead us, and that is to raise healthy, empathetic and selfless men," Saldana wrote in a sweet birthday message

By Karen Mizoguchi
November 27, 2017 08:58 PM
Zoe Saldana/Instagram. Inset: Stuart C. Wilson/Getty

Happy birthday to Zoë Saldana‘s twins Cy Aridio and Bowie Ezio!

The proud mom, 39, dedicated sweet messages to her 3-year-old sons on social media Monday, along with photos from their family celebrations.

The trio appeared to be spending the big day on set as Saldana was dressed in a motion capture suit but made sure to get some time in with the birthday boys as well as husband Marco Perego-Saldana and their youngest son Zen.

“Happy Birthday Bowie and Cy! Today, November 27th will always be the happiest and scariest day of our lives. On a day like today, three years ago our lives changed forever. We went from being two to four in just 2 minutes,” Saldana wrote along with a candid photo of the birthday boys.

Zoe Saldana/Instagram

Want all the latest pregnancy and birth announcements, plus celebrity mom blogs? Click here to get those and more in the PEOPLE Babies newsletter.

“Even though your arrival was early and with a couple of scary hiccups you have been the light of our lives ever since we learned of your presence within us. Your strength, determination, curiosity and kindness humble us every day,” the actress continued.

“Thank You for choosing us to guide you through the first stages of your purposeful path in life. You are both meant for greatness and by the grace of God your father and I will make sure you grow up to be exceptional men that will bring healing, wisdom, happiness, and change into this world,” Saldana added.

RELATED VIDEO: Zoe Saldana Refuses to Do Play Dates with Her Boys

Concluding, “We have a big task ahead us, and that is to raise healthy, empathetic and selfless men. We hope to never let you down. And please continue to teach us how you need to be loved, seen, spoken to, taught, encouraged, protected- all the things you need to thrive and make your life meaningful.”

Back in May, the mother of three told PEOPLE that she has her hands full when it comes to parenting her twin sons.

“They’re twins and they get along and they’re best friends, but they’re also super competitive,” Saldana said. “So they’re always fighting about the same things, and we buy them two of the same toys, but they always want the one the other one has. I don’t understand how that works or why they do that.”