"You look at what she posts and just as an individual she's a lovely being – she's a girl with a message!" Irwin said. "She does inspire so many young girls … I think that we share that message so completely because we all get caught up in trying to be like each other – and that's kind of this ideal, and we all try to live up to this ideal – but really it's an individual thought of what beauty is."
For people who feel self-conscious about their bodies, Irwin said it's important to love yourself "no matter how you look."
"You have to love who you are and know that you are beautiful and own it," she pointed out. "If you have curves, you have to own it – and if you have been born to be able to pull off that bikini really well you have to just enjoy it and love your body and love who you are as an individual."
The self-esteem message is important for both women and men, according to Irwin: "I see a lot of young men who are really trying to fit that box – and they have to live their lives and be true to to who they are," she said. "We all have to be thankful for the bodies that we've been given because our bodies – they carry our souls!"
And that common message of self-acceptance is what connects Irwin to the 18-year-old Modern Family star. "I love that Ariel Winter is just so involved with preaching that message and preaching to everybody that you have to – just love whatever body you've been given."