Richards, who adopted Eloise last month, said she'd been wanting to have more kids, and preferred to adopt as opposed to jumping into a relationship for the sake of having another baby.
"I had to make the decision: ‘Do I wait to find the right partner, or do I do it on my own?' So I just did it on my own."
Asked about her Sheen, the 40-year-old Wild Things beauty said when she first met him, "There was no need to change him.
"He'd been sober for three years ... he was so wonderful, had an amazing heart, very charming, very grateful ... I fell in love with him and those issues weren't there."
Richards said she hasn't been "officially asked" to appear at the upcoming Comedy Central roast honoring her ex-husband, and likely wouldn’t be comfortable roasting him because their daughters would eventually see it.
Host Barbara Walters pointed out that in Richards' new memoir, The Real Girl Next Door, she doesn't rip Sheen apart as some would expect.
Richards said that what happened in her marriage with Sheen "is very private between he and I," and that her book is more geared toward inspiring others who've been through the ringer of a rough divorce.
So how do things sit with her and the innovator of “Tiger Blood” these days?
"Today, we're good: We have a very ... sometimes up-and-down relationship, but at the end of the day, I'll always be there for him and we have kids together, and it's important for us to maintain a good relationship."
The Real Girl Next Door is in stores now.