The couple shares daughters Luna, 8, and Esti, 19 months, and sons Miles, 6, and Wren, 14 months

Chrissy Teigen and John Legend with kids Esti and Wren. Photo: Chrissy Teigen/Instagram

John Legend and Chrissy Teigen have this whole parenting thing under control.

While speaking to PEOPLE for this week’s issue, the musician, 45, noted that it’s been much less stressful parenting the couple’s two youngest kids, daughter Esti, 19 months, and son Wren, 14 months, as opposed to their older two, daughter Luna, 8, and son Miles, 6.

“We are definitely more relaxed in general, so we’re not as stressed,” Legend tells PEOPLE. “Even though you still have to do the work, none of it is as intimidating or worrying as it used to be. You’re not nervous about it. You’re like, ‘I got this.'”

Chrissy Teigen John Legend Thailand holiday pics with children.Chrissy Teigen/Instagram

He adds that after getting into the swing of things with his first two children, “Everything gets a little more lax.”

Legend also admits that having two kids under 2 is “nonstop” chaos.

“They’re so cute and interesting, and it’s so interesting to see their personalities develop, but it is truly nonstop,” he continues. “You’ve got to watch them every second.”

“They’re both walking now, so it’s more trouble for them to get into. It requires all hands on deck.”

John Legend, Chrissy Teigen, and kids.Chrissy Teigen/Instagram

Elsewhere in the interview, Legend revealed to PEOPLE who of his four children prefer Teigen, 38, over him.

“Chrissy’s everyone’s favorite I think, except I might have Esti,” the “All of Me” singer says. “I think because she’s at this space where she sees me leave now, and when I come back home, she’s super clingy and she literally just wants to hug my leg and make sure I don’t leave her.”

“So I think because I leave more, she’s more attached to me when I come home,” he says, teasing, “I have one out of four.”

But, he says, even little Esti can’t charm her way into her parents’ bedroom these days.

“I started locking the door,” Legend says of recently putting up boundaries with his brood. “Their big thing is they want to knock on our door and come sleep with us. I’m like, ‘Y’all are not coming in our bed every time you have a little disturbance. Go back to sleep.'”

Legend’s new album My Favorite Dream is available now.