Speaking at the launch of the new series of his ITV2 fly-on-the-wall show, the singer told The Sun that Junior and Princess Tiaamii have only seen him be "intimate" with their mother Price.
"The only woman they've even seen me be intimate with to this day is their mother. That's where I draw the line," he said. "When the kids go to dad's bed he's alone."
The 38-year-old added that he had only introduced his ex-girlfriend Elen Rivas to his children "as a friend".
"Yes I can have fun, yes I'm going to stay single - but the kids are always kept separate. That's why you never saw photos of us out with the kids or [doing] photoshoots together."
About the next series of his show, Andre said that viewers will see him as a "happier person" but added that they will still experience the "ups and downs" of his "crazy" life.
It was previously claimed that Andre was 'upset' by pictures of Katie Price and her new boyfriend Leandro Penna out with their children.
Peter Andre: The Next Chapter returns on Thursday, April 28 at 9pm on ITV2.
> Peter Andre: 'Fame not harming children'
Watch our interview with Peter Andre below: