Boris Kodjoe and Wife Nicole Ari Parker 'Hang Out at the House Naked' Now That Their Two Kids Are Grown Up (Exclusive)

The couple — who have been married since 2005 — shares daughter Sophie, 19, and son Nicolas, 17

Instead of sadness, becoming empty nesters has brought even more fun into Boris Kodjoe and Nicole Ari Parker's lives.

The Station 19 actor, 51, stopped by PEOPLE in 10 and talked about how he and his wife of close to 20 years have adjusted to life as their kids get older.

"We just hang out at the house, naked," he tells host Makho Ndlovu. "And we have a good time without anybody around."

He says the time alone is "a luxury to have," adding, "We never get bored, trust me."

The actor and former model shares daughter Sophie, 19, and son Nicolas, 17, with Parker. Sophie began her freshman year at Howard University in 2023, while Nicolas is often traveling for basketball as he has played for Germany's national team at the Junior Olympics and the European Championships.

Related: Boris Kodjoe and Nicole Ari Parker's Relationship: All About the Actors' Marriage and Family

Kodjoe says that the couple's approach to parenting is to keep things as real as they can, and he praises Parker's skills as a mother.

"She doesn't mince her words when it comes to dealing with the kids," he says. "I think it's very important as parents that you show your children your true self. It's counterproductive to act like you're representative and to always be perfect and polished."

Continuing to gush about his wife of nearly two decades, Kodjoe describes the And Just Like That... star as "somebody who doesn't lose patience at the first set of challenges that occur or adversity that shows up," He also says she's "somebody who actually sees you and hears you and understands that you are a work in progress."

Reflecting on the longevity of their relationship, which started after they met on the set of Soul Food in the early 2000s, he says, "I think we encountered some really heavy, heavy challenges and adversity early on in our relationship and I think that set the tone for the last 20 years."

There are some challenges they continue to face, too, as distance can pose problems for the couple due to their demanding work schedules.

"She's really the busy one right now," Kodjoe says of his wife. "She's heading out to New York to film And Just Like That... so she'll be in New York for six months and I'll be flying back and forth to see her."

Related: How Boris Kodjoe and Nicole Ari Parker Keep It 'Fresh' After 19 Years of Marriage: It's 'Fun to Be Together'

On May 1, Sarah Jessica Parker shared a photo on Instagram of the Sex and the City revival's first table read for its highly-anticipated season 3, exciting fans with the news that production is now underway.

"Here. We. Go. X, SJ," the star, 59, captioned the photo, which showed the scripts for the first two episodes of the season.

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Parker has been a regular on And Just Like That... since its 2021 premiere. She stars as Lisa Todd Wexley, a Park Avenue mother of three who was inspired by a real-life person — one of the show's senior writer's best friends, Crystal McCrary.

McCrary told PEOPLE it was "flattering" to have Parker portray a character "that's supposedly inspired by me," adding, "I'll take it!"

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