"I'm here to collect. They're gonna lose. They're gonna lose in a courtroom. So, I would recommend that they do an out of court settlement and fix this whole thing, and pay the crew, and get season nine back on board," he said.
At least in his mind, Sheen has come a long way from the man who made headlines with an all-night party at his house that landed him in hospital in January.
Adult film star Kacey Jordan told ABC News that she saw Sheen "splattered with wine stains, had 'tennis ball size' chunks of cocaine delivered, and was consuming so much booze and coke that she feared he was on a 'suicide binge.'"
Sheen said he has no shame or feelings of self-disgust looking back at the night. Instead, he said he felt a sense of pride.
"I'm proud of what I've created. It was radical," he said. "I exposed people to magic. I exposed them to something they're never otherwise going to see in their boring, normal lives. And I gave that to them. I may forget about them tomorrow, but they'll live with that memory for the rest of their lives. And that's a gift, man."
Sheen described his partying spree as "epic."
"The run I was on made Sinatra, Flynn, Jagger, Richards, all of them just look like you know, droopy eyes armless children," he boasted.
The January incident was not the first time Sheen was sent to the hospital.
In October, police say Sheen trashed a suite at New York's Plaza Hotel in an alcohol-fueled rampage that made headlines and landed him in the hospital.
Sheen declined to comment on the specifics of what really happened in that hotel room in New York City or other allegations of violence leveled against him by many women.
The Oct. 26 incident, where a 22-year-old adult film star locked herself in the bathroom, fearing for her safety, has become infamous.
In the wake of the fallout, Sheen has retreated to his Los Angeles home with his two girlfriends and the two sons he shares with ex-wife Brooke Mueller. He said his primary role is being a father – one that does not compare to being on drugs.
"They're whole different realities, you know. There's great things about both. But what I'm harnessing now is absolute, you know, focus. It's exciting," he said. "I've come back from a place that, you know, people can put labels on it and they can … try to, like, normalize it … and that's fine, but… I've just answered to a higher calling. And it happened in the blink of an eye. And I'm totally excited by it."
He said celebrities like Sean Penn, Mel Gibson and Colin Farrell, have reached out to him, offering the star words of support and wisdom.
"They didn't give me any advice. …It was just love," he said of his conversations with these celebs, calling them all "radical people." "Occasionally, you know, a giant marquee name comes through on your caller I.D. And it's like, 'winning.'"
Sheen said he hopes his "billions" of fans will rally behind him.
"Rally behind me with radical violence and focus and say that, 'No, we will not stand for this. We will not stand for our man being made the scapegoat when he's made everybody around him rich. And now they're punishing them and turning his crew family against him.' You know, it's really not cool, man.'"
CLICK HERE to watch the full "20/20" special -- "Charlie Sheen: In His Own Words."