"You gotta be fearless about these things," she told PEOPLE at Hard Rock's Pinktober Breast Cancer Awareness program launch this week.
The rocker, 49, has been choosing to focus on love instead of fear to get through the past year. "There is no fear when you choose love," she explained. "The more you choose love, the more love is in your life. It gets easier and easier."
Etheridge, who has been sharing custody of her two youngest children with Michaels, admits it's been tough being a single parent. "I have four kids," Etheridge said. "It’s hard because, of course, it's easier with two [parents], but you're a mom and you do what you do."
And part of being a good mom is being honest with your kids, she says.
"You just have to be truthful," Etheridge said. "They can see the reasons that people aren't together … and understand that it's more peaceful and happier."