For musician Gavin Rossdale, spending as much time as possible with his three young sons, Kingston, 13, Zuma, 11, and Apollo, 5, is a priority and a part of his life that he enjoys the most.

“I don’t know much about co-parenting, but I see my children as often as possible,” Rossdale, 54, told PEOPLE during the Chris Evert Pro-Celebrity Tennis Classic Saturday night at Florida’s Boca Raton Resort & Club. “I have learned during the past few years how to be a better father. And I am always learning more by being there for them.”