Heidi Klum opens up to PEOPLE about her parenting philosophy, backlash about modeling alongside daughter Leni, 21, in lingerie and more in our exclusive cover interview.

Heidi Klum, 52, said "my kids don't know me any other way" when asked about critics of her decision to model underwear with her 21-year-old daughter.

Eyebrows were raised when Heidi Klum posed with her daughter in a lingerie photoshoot, but the poised model doesn’t seem to care. Instead, she saw that photo-op as a way to inspire body positivity in her children and that loving yourself can be embraced at any age.