"The best way to get to my sister is to get in bed with her, you know what I mean?" he added. "And since I wasn't doing that, and ... wasn't about to, you know, that person, like I said, who speaks to her, the last person to speak to her at night, has the most influence.
"And we both couldn't really exist in the same hemisphere."
Ciccone said he was unsure whether he and Madonna could repair their relationship if Ritchie's feelings toward him remain the same.
"What I'm suggesting is that Guy's attitude towards me needs to change, number one. And also her attitude towards me needs to change some, too. And so, if those things occur, I'm more than happy to — I'd like to get to know my niece and nephew better, you know. I'd like to meet [Madonna's adopted son] David," he said.
Ciccone told 'GMA' that the trouble between him and Ritchie began as early as his sister's wedding to Ritchie.
"You're saying Guy Ritchie has a problem with homosexuality?" Roberts asked Ciccone in the interview.
"He does and he certainly has a problem with me where both are concerned,'' Ciccone said. "It was...very apparent at the wedding in Scotland, just in the way that his friends made their toast with his gay references. I mean had it been any other word, you know Jew or a black person...anyone would find if offensive and I have a thick skin, you know."
"But I did at one point, get up and leave the room, you know. It was just not tolerable for me."
Though the world has gotten an inside look at Madonna's family life, including her high-profile adoption of her youngest son David, Ciccone said his father and stepmother don't have a relationship with the young boy.
"My parents still haven't met him so — but hopefully, I think in the next couple of weeks, she'll be up at the house with the kids and my parents will get to meet David," he said.
To hear Ciccone tell it, the relationship between brother and sister was extremely unusual, to say the least.
"Yeah, I mean I —not very many brothers find themselves on their knees in their sister's dressing room, wiping sweat off of her — off of her naked body. It's just — it was an odd situation, and it wasn't — you know, I couldn't really tell my friends and — but I wanted to be there for her, and I knew that she needed someone there that she could trust."
"How close were you two, would you say?" Ciccone was asked by "GMA's" Deborah Roberts.
"Well, we were living in the same house together. After the divorce from Sean [Penn], I mean, it was — I was the last person she spoke to at night before she went to bed," he said. "It was, I was the first person she saw in the morning. We ran together. We had our sourdough toast together, we had our coffee together, you know, and — we had, we had, we were a very close brother and sister. I mean, it was a bit like a marriage, it was kind of weird, but you know."
Ciccone was beside the Michigan native singer when she rocketed to superstardom and appeared as a backup dancer in one of her earliest videos, 1983's "Lucky Star." For the next two decades, he choreographed, directed, designed, dressed and took care of his big sister's every whim.