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Sauntering into Jimmy Kimmel Live as only he can, Charlie Sheen looked causal-cool in a blue collared shirt, cargo shorts and a baseball hat, as he headed to promote his new FX show Anger Management while cradling a cigarette in Hollywood, on Thursday afternoon.

The former Two and a Half Men star opened up to the late night talk show host on his new costar/ex-wife Denise Richards on the show, confessing to Jimmy: "She's a good lady. It was a bad relationship -- we decided we would marry, thought we could fix it through marriage -- wow."

The couple split in 2006, but now share custody of daughters Lola, 7, and Sam, 8, and frequently take vacations together as a family.

Richards made a guest appearance on the show Thursday night as Sheen's love interest, and her character touched on the pair's infamous messy divorce, saying: "My ex can be a little difficult. Nuts. A real whack job."

Despite all the drama, we're glad they can still be friends -- and coworkers!