The rocker opened up about his friendship with The Cosby Show star during a recent taped interview with Oprah Winfrey, insisting he and Bonet were destined to fall in love just so they could have a baby.
He explains, "We were very young and it was wonderful. And we had Zoe, which is, I see now what it was all about.
"It was really all about bringing this beautiful child to the planet. And also sharing the love that we had. Zoe's mom and I now are best friends. It's interesting 'cause that's how the relationship started.
"It makes you feel really good when you can do that. When we're all together now - her man, her kids, Zoe, me - we're all together and we're one big happy family. It's beautiful and it just shows you what can be done."
Kravitz's interview will air on Oprah's Own network in America on Sunday night (02Jun13).