Denise Richards Got Charlie Sheen's Blessing to Appear on 'RHOBH' : 'I Respect His Opinion'

"I still would have done the show, but it was interesting to get his side of it," says Denise Richards of ex-husband Charlie Sheen

Years after their painfully public divorce, Denise Richards and Charlie Sheen are in a good place.

In an interview with Bruce Bozzi on his SiriusXM Radio Andy show, Lunch with Bruce, Richards, 48, opened up about her relationship with Sheen, 53, revealing that she got his blessing before signing on to The Real Housewives of Beverly Hills‘ current season.

“I did talk to him about it, because as an actor in this business I respect his opinion,” she said. “I said, ‘What do you think?’ and he was like, ‘I think it could be really cool.’ ”

“Even if he said, ‘I think this is the dumbest thing you ever did,’ I still would have done the show, but it was interesting to get his side of it,” she added. “I have a lot of respect for him as the father [of my kids] and also being in this business for as many years as he has.”

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Richards split from Sheen in 2005 when she was six months pregnant with their second daughter Lola, now 13. Their daughter Sam is 15, and Richards is also mom to 7-year-old Eloise, whom she adopted as a single mom in 2011.

Speaking to PEOPLE earlier this year, Richards said she had no regrets about their union — or the subsequent drama she dealt with for nearly a decade.

“I was never bitter about my divorce,” she said. “Going through everything, it changed me. But I love life and I’m a glass-half-full kind of person. And I did my best to rise above it.”

“No matter what happens, Charlie can call me at any point,” Richards added. “I don’t see our relationship as a failure. It’s a journey. It went a different way than we anticipated, but that’s okay. And I will always be a good friend to him.”

Still, she admitted that being pulled into a difficult time in Sheen’s life (he was open about a drug and alcohol relapse) was “extremely disheartening.”

“Times were extremely negative and I would have to tell myself, this too shall pass,” she said.

Now, Richards is happily remarried to wellness practitioner Aaron Phypers, whom she met in 2017 and wed last September. (She invited Sheen to the wedding, but he didn’t attend.)

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Denise Richards and Aaron Phypers. Broadimage/Shutterstock

“We have an amazing relationship,” Richards said of Phypers. “We love each other for who we are and we don’t judge each other. And for him to embrace a single woman with [three] daughters and an ex-husband with a wonderfully colorful past, it’s a lot. That made me fall in love with him even more.”

The Real Housewives of Beverly Hills airs Tuesdays (9 p.m. ET) on Bravo.

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