Heidi Klum spent most of her career modeling in catalogs or on the catwalk rocking sexy lingerie. And now her oldest daughter Leni Klum is following in her mom’s modeling footsteps as the duo costars in campaigns for the Italian fashion brand Intimissimi.

But Klum’s parenting was questioned in 2023 when she first appeared alongside Leni for the label, receiving backlash for the racy ad. “A lot of people are like, ‘Oh, I don’t know about mom and daughter doing this together,’” she tells PEOPLE. “But for us? I’m proud of my daughter. She’s fine with me like that.” She shrugs off the controversy. “I’ve always been very open with my body. When I’m suntanning in the backyard, I might not have a top on. I’m European …my kids don’t know me any other way and are probably more easygoing with their bodies because of it.”

Leni, 21, from Klum’s previous relationship with Italian businessman Flavio Briatore, joins siblings Henry, 19, and Johan, 18, and daughter Lou, 15, from her marriage to ex-husband musician Seal.

“You definitely go to the back of the line,” she says of becoming a mom. “When you have four kids, everyone always needs something, so you have to take care of everybody.”

While she may be very open about her sexuality around her children, Klum is still a typical mom who stresses about her kids. “When they’re young, you’re worried they’re going to jump in the pool or stick their finger in a socket,” she says. “Then they’re driving. Then it’s sex, drugs and rock and roll. You hope the seed you planted in them grows. That they’re good people. That they’re healthy. But you always worry. And I know I’ll still be worrying when I’m 80.”

Leni isn’t the only Klum kid in the modeling arena. Henry made his runway debut in Paris in January, followed by a modeling contract with NEXT Management, drawing praise not just for his looks, but his character. “Sometimes someone will come to me and say, ‘I just met your son. He is the kindest, nicest young man.’ That makes me feel good,” she says. “Because no one has to say that.”

Her kids also come to her for guidance, especially as their careers take shape. “Leni’s learned a lot over the years,” Klum says. “Sometimes she’ll say, ‘Maybe I should have listened to my mom four years ago.’ When you’re young, being cool is everything. So maybe mom’s advice doesn’t always feel cool at the time.”

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As Klum continues to navigate her career with a big return to Project Runway’s 21st season, she remains committed to living louder and bolder than ever before.

“The biggest misconception about your 50s is that you’re off the shelf,” she says. “We are very much on that shelf for everyone to see. Beauty is ever-changing, and I’m here for the change. If it’s always the same, life is boring.”

Stay tuned for more from our exclusive interview and photo shoot with Klum ahead of Project Runway‘s hotly anticipated season 21 premiere on Freeform, Hulu and Disney+ starting Thursday, July 31.