Calling into Ryan Seacrest's KIIS-FM show to promote it, (Seacrest is producing her show), Richards, 37, said she remained friends with Sambora after her friendship with his then-wife Locklear had dissolved.
A relationship blossomed with the musician after Richards and Sambora simultaneously went through "awful" divorces and cared for ill parents.
At the time, said Richards, she "followed my heart," but asserted that nothing happened while he was a taken man. "I did not interfere with their marriage," she said.
While she and Sambora remain friends, Richards still hasn't found common ground with her ex, Charlie Sheen.
The former couple, who have two daughters together (Sam, 3, and Lola, 2,) currently "don't speak," said Richards, who also told Seacrest that Sheen "cut me off of child support last week."
Richards also said she can't wrap her head around why Sheen called for a boycott over having their girls on her reality show, given that they've always been in the public eye.
Still, the friction existing between Richards and her ex does not surprise her. "Charlie and I don't agree on much these days," she told Seacrest.