Even though his marriage to Tameka Foster didn't work out, Usher says he doesn't regret marrying her at all. The singer tells PEOPLE in a new interview that he doesn't consider the union a failure.

"I appreciate the relationship for what it was. Even though it didn't work out, I'm glad we got together. I love her as the mother of my children; we just couldn't be married," he told the magazine. The couple has two sons: Usher V, 2, and Naviyd, 1.

When asked what went wrong, Usher recalls that soon after the birth of their second son, he and Foster started to argue about everything including parenting style. "We're two different people and we have two different goals. It just was never going to work out 100 percent," he said.

More excerpts from the PEOPLE interview after the jump.