Shay Mitchell Says Friendship with “Pretty Little Liars”' Ashley Benson and Troian Bellisario Will Last 'a Lifetime' (Exclusive)

The trio starred on all seven seasons of the hit teen drama series 'Pretty Little Liars' – based on the novel series of the same name by Sara Shepard – from 2010 to 2017

D Dipasupil/FilmMagic (L-R) Troian Bellisario, Ashley Benson, and Shay Mitchell attend the ABC Freeform Upfront on April 7, 2016 in New York City

D Dipasupil/FilmMagic

(L-R) Troian Bellisario, Ashley Benson, and Shay Mitchell attend the ABC Freeform Upfront on April 7, 2016 in New York City

Shay Mitchell will always have a special connection with two of her former Pretty Little Liar costars.

While speaking with PEOPLE at an H&M party in New York City on Monday, Nov. 18, the actress, 37, opened up about her friendship with Ashley Benson and Troian Bellisario and how motherhood has connected them.

"That friendship will be one we'll have for a lifetime and it's just so awesome to see both of them grow into mothers," Mitchell says.

She continues, "Troian's given me so much advice and it's really great that we still have this amazing friendship."

Shane Anthony Sinclair/Getty  Shay Mitchell attends the H&M&LONDON musical event on Sept. 12, 2024 in London

Shane Anthony Sinclair/Getty

Shay Mitchell attends the H&M&LONDON musical event on Sept. 12, 2024 in London

Mitchell has two daughters, Rome, 2, and Atlas, 5, whom she shares with her boyfriend Matte Babel, while new mom Benson shares one daughter Aspen, 8 months, with her husband Brandon Davis.

Meanwhile, Bellisario has two daughters Aurora Adams, 6, and Elliot Rowena Adams, 3, with her husband Patrick J. Adams.

Related: Shay Mitchell Reveals Her Favorite Part About Raising Her 2 Daughters: 'I'm Having the Best Time Ever’ (Exclusive)

The trio starred on all seven seasons of the hit teen drama series Pretty Little Liars – based on the novel series of the same name by Sara Shepard – from 2010 to 2017. The show, which followed five teenage girls who begin to receive threats from an anonymous person, also starred Lucy Hale and Janel Parrish in main roles.

In June, during an appearance on The Jennifer Hudson Show, Mitchell said she is reluctant to revisit the show with her children despite her Babel's insistence.

ABC FAMILY/ANDREW ECCLES Ashley Benson as Hanna Marin, Troian Bellisario in 'Pretty Little Liars'

ABC FAMILY/ANDREW ECCLES

Ashley Benson as Hanna Marin, Troian Bellisario in 'Pretty Little Liars'

"He's like, 'The day Atlas is old enough, we’re going to watch it back,' " Mitchell said. "I’m like, ‘My eyebrows are real thin shooting that entire season. I don’t know if I’m ready.' "

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After the birth of Mitchell’s first child in 2016, she told told Entertainment Tonight  that she has been turning to Bellisario for parenting advice.

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"She has been the person I’ve gone to for the most advice, obviously having a daughter of her own," Mitchell said at the time. "I’m the luckiest person in the world. She is not only such an incredible person, but the best mom ever."