Twenty years after Lenny Kravitz and Lisa Bonet ended their six-year marriage, the rocker says their bond is stronger than ever. During the June 2 episode of Oprah's Master Class, the "Are You Gonna Go My Way" rocker opens up about how far they've come since calling it quits in 1993.

"We were very young and, uh, it was wonderful," the 49-year-old musician says of his ill-fated union with the Cosby Show actress, 45. "And we had Zoe, which is. . . I see now what it was all about. It was really all about bringing this beautiful child to the planet. And also sharing the love that we had. Zoe's mom and I now are best friends. It's interesting because that's how the relationship started."

Kravitz was briefly engaged to Victoria's Secret Angel Adriana Lima, but they broke things off in 2002. Bonet, meanwhile, began dating actor Jason Momoa in 2005. They have since welcomed daughter Lola, 5, and son Nakoa-Wolf, 4. Zoe, 24, is now a successful actress who's been dating Gossip Girl's Penn Badgley since 2011.

"When we're all together now -- her man, her kids, Zoe, me -- we're all together and we're one big happy family," Lenny admits. "It's beautiful, and it just shows you what can be done."

Oprah's Master Class airs Sunday, June 2, at 10 p.m. EST.