It's advice she may well heed during this time of shifting priorities and self-reflection.
"I'm in a different space. There's a lot that's gone on, a lot that makes you think, think about life. Something that I think we tend to -- at times take for granted," she said. "I'd love to have a family."
Jackson recently released a CD called "Number Ones." She recorded the CD's only new single "Make Me" after Michael's death. "It's classic -- classic me," she said. "Dance, upbeat, lots of harmonies."
At 43, the princess of pop tells Roberts she's finally come to embrace herself.
"[Forties are] great. You know why? You don't care what people think. You really don't. ... You do your thing," she said. "You have no time for mess, no time for drama."
Watch Robin Roberts' exclusive interview with Janet Jackson, "In the Spotlight," Wednesday, Nov. 18 at 10 p.m. ET.