Winter shared a heartwarming message on Mother's Day for her older sister Shanelle Gray

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Ariel Winter took to Instagram on Sunday to praise her sister Shanelle Gray for being “the most amazing mother” she’s ever known.

“#HappyMothersDay to this insanely beautiful woman inside and out, my sister, my best friend,” wrote the Modern Family star. “I love you so much. You are the most amazing mother I’ve ever known and we are all so grateful for you! Although I’m now 18 and mommy role is over, I will always have a special place in my heart for those years you raised me as your own.”

Winter’s sister became her guardian in 2014 after custodial rights were transferred from her mother, Chrisoula Workman, whom Winter accused of physical and emotional abuse. The actress is now emancipated from her mother after the courts granted her request in May of 2015.

“So this day is your day, because you deserve the world! I always feel so lucky that I have such an amazing role model,” the tribute read. “I hope one day I can be as wonderful as you. I love you more than anything and am so grateful to have you. Thank you for being the most amazing person on this planet and for being my everything.”

Earlier this year, Winter opened up about her amazing relationship with Grey and how much her support means.

“I have a great support system now,” Winter told PEOPLE of her sister brother-in-law, David. “They’ve been so amazing and supportive.”

“I love living with my sister. She’s my best friend, and I love her husband and their babies. My nieces are my entire life,” she added. “I’ve found a happy situation for me. So there is not really a reason for me to leave until they kick me out!”