AceShowbiz -

Sean Penn opens up about his love life with Charlize Theron in an interview with Esquire U.K. for its March issue. Sean, who was previously married to Madonna and Robin Wright Penn, reveals his plan to get married again and would consider it as his "first marriage."

"Yes, I'd get married again," the "Milk" actor tells the magazine, "You say I've been married twice before but I've been married under circumstances where I was less informed than I am today, so I wouldn't even consider it a third marriage, I'd consider it a first marriage on its own terms if I got married again. I mean, I like the tradition. A friend of mine wrote a line, 'Without tradition, new things die.' And I don't want new things to die."

Sean also gushes over his relationship with Charlize and her adopted son Jackson. "I'm in love with a woman and home is where the heart is, right?" he shares, "I'm in love with my children, they're here. Jackson's very committed here with schools and all that. Charlize has friends and family here."

At the age of 54, the "Fair Game" actor admits he's "surprised to be in love" again. "Yeah, I'm surprised to be in love. Lot of reasons," he says, "I'm self-proclaimed bad at mathematics but I can do two plus two: 53 years old plus finally beginning to figure out why you haven't been happy in a single relationship? It could seem too late. But to run into somebody now who you care about is a much more passionate, deeper, truer and - God! - a much happier feeling. It's a lot more romantic and a lot more fulfilling to be in a relationship and to think you're a good person within it."

Sean reveals he's "very friendly" with Madonna. "I'm very friendly with my first ex-wife," he shares, "I would say that I'm on extremely good terms with the children I share with my second ex-wife."

He adds, "Initially, in a divorce, you kick and bite about the other person. But finally you're looking at your failures to that person, to a marriage, to a friendship, to yourself during that time as well. Because no matter what the other person was or wasn't, for better and for worse, it really has so little to do with the growth you need to find better circumstances. Almost exclusively it has to do with your own stuff."