Janet Jackson was on 'Piers Morgan Tonight' (weekdays, 9 PM ET CNN), where she discussed struggling with her body image, self-esteem and her relationship with her father, Joseph Jackson.

Joseph was a notorious disciplinarian whom Janet didn't feel close to growing up, and she told Morgan how, as a child, she would envy her friends' relationships with their dads.

"I'd see my friend's relationship with their father, how they'd call them Dad and sit in his lap," Jackson said.

"What'd you call him?" Morgan wondered

"Joesph," Jackson answered immediately.

"One time I tried to call him Dad," she explained. "And he said, 'No, I'm Joseph. You call me Joseph. I'm Joseph to you.' When your father tells you [that] one time, you don't do it again."

Although Jackson admits she still doesn't have much of a relationship with her father, she said she knows that he loves her. She also added that despite his questionable parenting methods, she thought she and her siblings "turned out OK."