Will Smith is opening up about his earlier contentious relationship with Janet Hubert, the actress who played Vivian Banks on the original Fresh Prince of Bel-Air.

Hubert, 68, played Aunt Viv for the first three seasons of the series. She left the show in 1993 citing “creative differences,” and was replaced by Daphne Maxwell Reid. Since then, Hubert and Smith, 56, have tangled occasionally in the public eye, but reconciled in 2020.

In a new episode of Vice’s Black Comedy in America series, Smith says he “made a horrible error” in misjudging his costar while the two were on the show.

“I made a horrible error and misjudgment of her value and power and beauty to the show,” Smith admits to host Chris Spencer during a chat about his career. “I horribly underestimated what she was for me at that point in my life.”

Will Smith on Vice TV with ‘Black Comedy in America’ host Chris Spencer. VICE TV

Prior to their reconciliation, Smith at one point claimed Hubert “wanted the show to be The Aunt Viv of Bel-Air Show,” in an interview with an Atlanta radio station, according to Complex.

But the two had an emotional reconciliation in 2020, during the filming of an HBO Max special celebrating 30 years of The Fresh Prince.

During the special, the pair sat down for the first time in decades to discuss their differences.

Speaking to PEOPLE in 2021, Hubert said she and Smith now have a “very good relationship.”

“We text each other back and forth all the time,” Hubert explained. “I meant it with all my heart when I hugged him, because I saw that little boy, that little 21-year-old boy. Had we had an opportunity to talk back then, I think this would have never happened.”

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As recently as March, Smith offered public support of Hubert while at an event for her project JG and the BC Kids, which champions book smart and street smart children.

“WOW!! Thank U to my dear friend @janethubertformyfanspage for inviting me to help you bring your amazing project JG and the BC Kids to the world!” Smith captioned a video of the two, which was shared by both stars.

“It was a blast and a pleasure to be able to show 200 students from @embracegirlpower a taste of your genius, Janet!! OK — who we showing the project to next?? #embracegirlpower #jgbckids,” he added.

Black Comedy in America airs Tuesday nights at 10 p.m. ET/PT on VICE. Catch a marathon of the entire series on New Year’s Day from 8 a.m. to 1 p.m. ET/PT.