The Good American designer added that despite their past issues, they have grown closer due to being in lockdown together.
"Tristan and I needed that time to heal and I needed time to go through my emotions. But now he's literally one of my best friends."
"A lot of that has been because of quarantine. We spend a lot of time together with no distractions, and seeing him as a dad and how helpful he is, I'm so grateful. Especially during this time because it's such an isolating time. I'm really grateful for that support and that additional help."
Khloe added: "I really am proud of him and myself. The key is that I had amazing examples. Now that I'm an adult and I have a child and know how difficult co-parenting can be, I understand. You can get possessive, like, 'This is my kid!' It's crazy. But it's both of your kids."
Khloe, whose parents Robert Kardashian and Kris Jenner divorced when she was around seven-years-old, also re-called how her parents and stepfather "seamlessly" co-parented.
"I'm sure it was difficult for them too but we never knew anything negative," Khloe explained.
"My stepdad [Caitlyn Jenner] and my dad would play golf would play golf once a week and my dad would come over for dinner once a week and to my little sisters, that was their uncle Robert," she added.
She also acknowledged her older sister Kourtney Kardashian's relationship with her ex Scott Disick and younger sister Kylie Jenner's co-parenting tactics with ex Travis Scott.
Tristan most recently attended Khloe's 36th birthday party and there were even whispers that the two were getting back together.
Whilst Tristan has reportedly "made changes" and Khloe "seems very happy" with their relationship at the moment, a source told E! News that it's unlikely a romance will be rekindled.
"Obviously Khloé is hesitant and is taking it very slow. The time they have had together during quarantine has been very special and meaningful," the source spilled.
"Khloé realises when Tristan goes back to playing basketball and on the road, everything will change. She isn't getting ahead of herself and she is just enjoying having him around right now and all of the family time they have had together with True."