A special relationship has always been there between Lenny Kravitz and Zoë Kravitz, his daughter with ex-wife Lisa Bonet. The two have always been close, the rockstar shares, and opens up about their bond.

This week, Lenny sat down for an exclusive interview with People to promote his upcoming memoir that comes out on Oct. 6. The book will detail his sweet relationship.

Lenny Kravitz opens up about his daughter Zoë

Lenny shares his love for his daughter Zoë and shares that the two of them have always had a tight bond. The rockstar also revealed that they can talk about anything, and have a very relaxed open dialogue.

"Zoë and I have a very open dialogue," Lenny shared. "We can talk about anything and everything."

Lenny then disclosed that he his relationship with Zoë reminiscent of his own late mother and grandfather's bond.

"My mother and my grandfather had a very close relationship — to the point where, as a teenager, I thought it was ridiculous," he said. "I would just say, like, 'You guys are on top of each other all the time.' They loved each other, and they valued each other."

"So when I see the relationship between Zoë and myself, I see the relationship between my mother and my grandfather. It makes me very happy that we've elevated to that level," he added.

Lenny shares he's proud of Zoë

Over the last decade, Zoë has carved her name into the seats of some elite acting circles, appearing alongside major A-list actors such as Meryl Streep and Reese Witherspoon in the hit TV series Big Little Lies. Lenny says he couldn't be prouder of his daughter.

"She really did it on her own," he said. "In school, she never told people who her parents were. She would make me pick her up down the block. Some kids might’ve used it to their advantage, but it wasn't her style."

Lenny added, "She's done an amazing job. I know that my mother is very proud of her — not just her accomplishments, but her behaviour, her attitudes, the way she has done what she's done and the kind of human being that she is."

Lenny also disclosed that it's been important for him and his ex-wife Bonet to remain close throughout these years, even after Bonet married Jason Momoa, with whom she shares two kids, Lola, 13, and Nakoa-Wolf, 11. Lenny said he loves them all dearly.

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"It's essential," he said. "We have a child, and we love each other just as much as before — it's just a different situation. It takes time, work and dedication, but that is something that the two of us had."

Lenny added, "I love her husband, and I love her children. We all get together, and we have the best times. We communicate, we have each other's backs and that is the way it should be. We're all one family."

Lenny's book is available on Oct. 6.

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