In 2005, Jackson was brought up on child molestation charges but later acquitted. When asked if they believed Jackson was a pedophile, all three men emphatically said "no."
"Being a man…men know men…and we [were] around him long enough to know…he was a man," Whitfield said.
Garcia said Jackson had "desires of women like we do. He had lovers."
The men said the pop star had at least two girlfriends and sometimes felt as though they were chaperoning two teenagers on a date.
"In the cars that we had, we had a curtain that covered the back seat…you couldn't see in the back seat. They talked back there…they didn't do nothing out of bounds…you can hear the kissing," Whitfield said.
ABC News' Sarah Netter contributed to this report.