The Teen Mom 2 star opened up about her custody battle for her twin daughters with ex Corey Simms as well as her decision to seek rehab treatment for depression and anxiety last year during an appearance on Monday's episode of the Steve Harvey Show.
"I needed help," said Messer, 23, told host Steve Harvey. "I was on the depression and anxiety track. [I'm focused on ] doing it the right way and being able to have that platform to teach girls to do it the right way, and that's what matters to me."
In regards to her ex Simms, with whom she shares 6-year-old daughters Aleeah and Aliannah, the MTV star said the two "have been co-parenting really well."
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And while tensions between the two have been high on the current season of the reality show, Messer says she and Simms are "in a much better place than we were."
Messer was also joined by her costar Kailyn Lowry, and the two got candid about the difficult social media scrutiny they face from starring on the show.
"You know, sometimes we just want to be like everybody else and think of ourselves as people who are not on TV," said Lowry, 24. "We want to do our own thing, but at the end of the day if we post one picture on Instagram we might cause World War III with 10,000 comments, you know?"
Messer echoed a similar sentiment.
"It's hard. People are so judgmental," she admitted. "I honestly put my life out there to be a positive influence and really to reach out to people – that is my only desire. There's nothing else to gain from this, and I mean it's so painful when people are so judgmental. I just stop allowing it to affect me."
"I think people forget when they're watching the show that we're actually human being with feelings – they see characters versus real people," added Lowry.
Teen Mom 2 airs Mondays (10 p.m. ET) on MTV, and the Steve Harvey Show airs weekdays (check local listings).