The pair married in 2010 but split up in October last year. They have remained close and enjoy spending family time together with their three-year-old son Flynn.
They spent the festive season together, as well as celebrating Flynn's third birthday in each other's company earlier this month.
"It's so important, we will be family forever and we both really love and respect each other. We're really good; we got along better than ever. It's so great," Miranda told the Kyle and Jackie O Show.
Being a single mother doesn't faze the Australian beauty, who says she works hard to support her young son.
She's trying to instil the same values in Flynn that she was taught as a child, which includes not spoiling him despite the fact that he has two famous parents.
"I'm working really hard to support my son and provide him with the right education. When I was growing up my parents were very good at, my dad especially, wanted to make sure we were never spoilt but our needs were all met.
"So we'd have to work really hard for something but we would then appreciate it even more. I think that work ethic was very important. It's having that balance of making sure your children's needs are met but not over spoiling them," she explained.
Despite being a top model and previously having strutted down the catwalk in her underwear for Victoria's Secret shows, 30-year-old Miranda says there are still parts of her she would like to change.
"I feel like every human being has parts of themselves that they continually want to improve, whether that be physical, mental, spiritual, emotional... there's always something where we can improve and be better at," she said.