John Legend is all about living life to the fullest these days! The "Love Me Now" singer, 37, spoke with ET's Jennifer Peros at an NYC event for his October Gotham Magazine cover, where he opened up about his wife, Chrissy Teigen, and their 6-month-old daughter, Luna.
"You just have to try and be with each other as much as you can, cherish every moment," Legend said of his marriage to Teigen. "Enjoy each moment. Go out of your way, do fun things together as a couple and as a family. And we try to do as much of that as we can while still working and you know maintaining our careers."
WATCH: EXCLUSIVE: Chrissy Teigen Opens Up About Kim Kardashian Post-Robbery and Baby Luna's Big Milestones
The same applies to spending quality time with his baby daughter.
"We just try and make every day as great as we can for her, help her grow into the kind of human we want her to be, and try and make every moment as stress-free and joyous for her as possible," he added.
And while Luna hasn't said her first word yet, Legend doesn't see it as a "Mama vs. Dada" competition.
"It is really difficult for them to form the 'm' as easily as they form the 'd,' so I am not really making it seem like it is some kind of victory for me that she can say the easier thing, but either way I will just be excited when she starts talking," the proud dad revealed.
And while Legend and his family have plenty to celebrate these days, the GRAMMY winner also sent out his support to celebrity pals Kim Kardashian and Kanye West following Kim's traumatic Paris robbery.
"Chrissy has been in touch with them, and, you know, I felt really bad for what happened," he said. "It makes you think about everything. You know, the world, I do not think is, you know, it is not full of danger at every turn, but there is enough out there that you need to be aware of it, and, you know, be as cautious as you can while still enjoying yourself and not living in a box and kind of imprisoning yourself to the fear that something could happen."
MORE: Chrissy Teigen and John Legend Celebrate Luna Turning 6 Months Old -- See the Cute Pics!
Teigen also opened up about her friend's horrific ordeal to ET earlier this week, saying, "She's doing great. It's so crazy. Obviously nobody knows how they would react to that kind of situation and I have no idea what I would do. I have no idea what my life would be like after. I can't even fathom it. So I'm just proud that she's back at home and with her babies."
For more from Teigen's interview, watch the clip below!