• Jessica Simpson said she believes all bodies should be celebrated no matter their shape or size
  • She shared that she has "been happy at every size," with the exception of her weight "at the end" of her pregnancies
  • Simpson maintains her figure with the help of weight training and walks with husband Eric Johnson

Jessica Simpson is opening up about the experience of having been "every size."

The 41-year-old singer and fashion designer told People in a recent interview that she believes all bodies should be celebrated no matter their shape or size and that she's had this outlook regardless of the changes in her figure over the years.

Pointing to her eponymous clothing collection and how it caters to women of all sizes, Simpson — who has dealt with weight gain and weight loss throughout the years while in the public eye — explained that it was crafted this way "because I've been every size."

"So I understand the mentality of all women, and I understand loving where you're at or wanting more, or wanting something better," Simpson said. "I understand that."

The mom of three also shared that she was shocked by her body's ability to return to her pre-baby size.

She admitted that she once thought she would never see herself wearing bikinis again after getting pregnant. She stressed that she has "been happy at every size," with the exception of her weight "at the end" of her pregnancies, and has always "embraced" her body.

"I always celebrate my body," she continued. "The fact that it made children is unreal, ... but you just don't ever think you're going to fit back into things. It's crazy. A woman's body is phenomenal in what it can do."

Earlier this month, Simpson shared snaps of herself sporting bikinis during a family trip to Cabo San Lucas, Mexico. In the caption, she told her followers that she thought she would never feel comfortable wearing the swimwear again.

"I never thought of being in a bikini again, because I was stretched out as big as the couch," she said. "So to be able to put on a bikini ... I just hadn't thought that was even a goal until I put it on, and I was like, 'I think I was afraid of that.'"

In her Instagram post, the singer shared that she had gained and lost 100 pounds three times so she never thought of wearing bikinis again. For her, "hard work, determination and self-love" helped her take that step.

As for how she maintains her figure, Simpson said she regularly works out, including doing weight training. She also shared that she enjoys taking walks with her husband Eric Johnson because it not only keeps them in shape but also gives them the opportunity to bond.

"For Eric and I, it's so good to walk, because we're creative on walks and we talk through things," Simpson shared. "It's a really inspiring conversation. That's good for our relationship — and that's cardio."

Simpson and Johnson share three children: daughters Maxwell,9, and Birdie, 3, and son Ace, 8. She was previously married to Nick Lachey from 2002 to 2006.

Jessica Simpson Eric Johnson Slideshow
29. Jessica Simpson and Eric Johnson: When Jessica Simpson decided to marry her second husband with a July 4th themed event, she kept true to the theme, featuring patriotic sparklers, a photo booth, games, a Southern-Inspired buffet and a pie bar. She also made sure part of the $1.4 Million price tag went to her wardrobe, which featured a custom golden Carolina Herrera gown and $750,000 worth of Neil Lane jewelry. The couple is pictured at the 10th Anniversary Celebration of the Jessica Simpson Collection in New York City on Sept. 9, 2015. Jamie McCarthy/Getty Images for Jessica Simpson Collection