Heidi Klum just laid bare her feelings on going topless in front of her kids, and we are praising her authenticity! The supermodel shared that she often goes topless in the privacy of her own home and slammed critics who have a problem with it.

It started a few years ago, when she posed in a lingerie photos with her arms around daughter Leni, 21, who she shares with ex Flavio Briatore. They’ve since modeled in other racy campaigns together, which apparently people had a problem with since they are mother and daughter.

“A lot of people are like, ‘Oh, I don’t know about mom and daughter doing this together,’” she told PEOPLE. “But for us? I’m proud of my daughter. She’s fine with me like that.”

Klum’s children Henry, 19, Johan, 18, and daughter Lou, 15, who she shares with ex Seal, are also used to seeing their mom in her birthday suit. “I’ve always been very open with my body,” the America’s Got Talent alum continued. “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.” We love how unapologetic she is about this controversial issue.

This isn’t the first time Klum has modeled body confidence and sex positivity — but her kids aren’t always fans of it. In an interview on Alex Cooper’s Call Her Daddy podcast last year, Leni shared, “I remember having my girlfriends over and I’d be so embarrassed and scared [of my mom going topless].” The model added, “Usually in my friends‘ families, I never see their moms tanning naked at the pool, but I thought it was normal. My friends would always be kind of standoffish, but it was just so normal in our family.”

“That’s how I was brought up,” Klum, who was born in Germany, explained. “My parents were running around nude in the house. We would go to FKK (an abbreviation for freikörperkultur, which translates to ‘free body culture’) beaches. We had a camper and we’d go to places where everyone is nude.” Klum continued, “I was at the beach, nude with my family, and no one thought it was strange or weird or told me any differently.”

“I try to be like that with my kids — obviously when, you know, no one is there,” Klum added.

She said that her kids will ask her to cover up when their friends come over, and she always does. “I also don’t want to flash anyone just to flash someone. I just don’t love tan lines,” Klum said.

Now that they are grown, Klum’s kids don’t want to follow in her bare footsteps. “They’re not as open as I am,” she said. “Strangely, you would think because I’ve kind of been like that their whole life, I would have thought they are very similar. Maybe later in life they will be like that.”

Experts say that it’s OK to be naked around your kids, as long as it is never sexualized. Licensed psychotherapist and marriage and family counselor Shirin Peykar previously told SheKnows that “parental nudity doesn’t necessarily cause psychological issues in children.” This is especially true “if you’re all on the same page, are all consenting and are all comfortable with it.”

Peykar recommends that you “follow [your] children’s lead — if they are uncomfortable seeing you naked, you should stop. She also says that parents should teach kids boundaries and consent when seeing a parent naked (aka, no cuddling with mom when she’s topless, etc.). With that being said, there can be some positive benefits to being naked at home.

“Children can develop a positive view of sexuality through their parents’ modeling of their comfort with it,” she told us. “This can cultivate a positive view of a child’s own sexuality in the future.”

Before you go, check out what these celebrity parents had to say about their privacy-free life with kids.