It's no secret that Usher, 35, has had a rocky relationship with his ex-wife Tameka Foster, 43, but in a new interview for Oprah's O Magazine
, he actually calls getting married at 28 years old his "best"
"Most people probably think I regret it because I ended up getting divorced, but it helped me learn that sometimes I think I know more than I actually do," he candidly tells the magazine for their September issue.
Usher and Tameka were married in 2007 in Atlanta, but were divorced by 2009. They have two sons together -- Usher Raymond V, 6, and Naviyd Ely Raymond, 5 -- and were involved in a highly publicized three-year custody battle following their split.
Most recently, the two faced off in the courtroom again
in August 2013. Tameka filed a request for an emergency custody hearing seeking temporary primary custody after their eldest son Usher V was hospitalized, after he accidentally got stuck in a drain while swimming in a pool at Usher's home.
The case was eventually dismissed, and Usher retained primary custody of their two sons.
In the new interview, Usher also reveals the advice the legendary James Brown once gave him.
"'If you stay ready, you ain't gonna get ready' -- James Brown told me that right before we performed together at the Grammys in 2005," he recalls. "I’ve never forgotten it, and I’m always telling people, ‘Well, James Brown once told me…'"
Tameka actually sat down with ET's Rocsi Diaz in May along with her fellow Atlanta Exes co-stars, to talk about why her marriage failed with the R&B superstar.
O Magazine's September issue hits newsstands today.