Kate Hudson explains how she co-parents with the 3 different fathers of her children

• Hudson has never had a relationship with her biological father, actor Bill Hudson.
• She and her brother Oliver have had to grapple with estrangement from their dad.
• That's why Hudson prioritizes her co-parenting relationship with the three fathers of her children.

Kate Hudson may have a seemingly idyllic Hollywood life, both as the daughter of Goldie Hawn and as a successful actress in her own right. But she says that she has struggled with the fact that she has never had a relationship with her biological dad, actor Bill Hudson.

"It's a 41-year-old issue," Hudson said on Today's Sunday Sitdown in January. While Hudson and her brother Oliver had a loving stepfather in actor Kurt Russell, they've both felt the sting of being estranged from their father, she said on the show.

It's an issue that she and Oliver have talked about on their podcast, Sibling Revelry.

"I think that estrangement is unfortunately quite common," Hudson said during the conversation with Today's Willie Geist. "I think it's important for people to talk about that. Sometimes we need a little bit of talk and humor to move us to a place where we can heal from some of the wounds that have affected us from our families."

Read More: Kate Hudson said it 'would be nice' to reconnect with her estranged father's other children

Even for someone who has the success and positive relationships that Hudson does, estrangement can still present a struggle, she said.

That may be one reason she's so committed to co-parenting with the three fathers of her children.

She's mom to Rani Rose, two, whose dad is Hudson's partner, Danny Fujikawa; Bingham, nine, whose dad is her ex-fiancé Matt Bellamy; and Ryder, 17, whose dad is Hudson's ex-husband, Chris Robinson.

Hudson's biggest piece of advice for co-parenting is to put the kids first.

"The only expectations I really have that are really high in my life is with my kids, and with, like, family stuff," she said on Today. "Other than that, it's like, I just let it go. I work my ass off and then I walk away and I hope for the best."

That approach has worked well for Hudson's career, which she describes as being jump-started by her 2000 role in "Almost Famous."

Although she's released a new movie this year and has been shooting for the Apple TV series "True Be Told," Hudson says she's had the same struggles as most parents when it comes to being stuck at home with the kids.

"I wanna be like, 'Yeah, it's so great and we're figuring out,' but the reality is that there are days that are great, and there are days that I have to remind myself to be grateful," she said on Today.