Melissa Rivers Says She Loved That Mom Joan Rivers Was 'Part of the Fabric' of Son Cooper's Life

The actress shares her son Edgar "Cooper" with ex-husband John Endicott

Melissa Rivers is reminiscing on her late mom Joan Rivers' relationship with her son.

In an exclusive clip shared with PEOPLE ahead of this week's episode of ABC Audio's Pop Culture Moms podcast, the 56-year-old actress chatted with hosts Sabrina Kohlberg and Andie Mitchell about her mom's close-knit relationship with her 23-year-old son Edgar "Cooper," whom she shares with ex-husband John Endicott. The full podcast episode drops tomorrow, April 9.

Asked what she loved the most about watching her mom as a grandmother, Melissa says she enjoyed seeing how close Joan and Cooper were.

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Related: Melissa Rivers 'Wishes' Mom Joan Rivers Could See What a 'Solid Person' Son Cooper Has Become (Exclusive)

"Now granted, you know, we were doing the reality show and Fashion Police, so she literally was in our house at least once a week," Melissa says of her mom. "So she was such a part of the fabric of his life that I remember one time she was like, 'I can't believe he's not paying attention to me and he's being rude.'"

"And I said to her, 'Him not paying attention to you is the biggest compliment you can get. Because you coming here is not a big deal to him. It's normal.' And then she's like, 'You're right.' I'm like, 'Yeah!'"

In January, Melissa spoke with PEOPLE and revealed what she wishes her late mom Joan could know about her "lovely, charming, [and] smart" boy.

"I wish she could see or know about what a solid person he's become and still becoming," Melissa, who now hosts the Melissa Rivers' Group Text podcast, told PEOPLE. "He's smart, he's funny, he's kind. He has empathy."

"We were at a wedding a couple weeks ago and he's 23 now and I looked over and he was holding a glass of red wine, which already freaked me out. I want to walk over and be like, 'You're not having a drink.'"

"And chatting with people without me having to drag it out of him and laughing and having fun," Melissa said. "I'm like, 'Oh my God. He's this lovely, charming, smart individual."

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