The 23-year-old was joined by sisters Kim, Kourtney, Khloé, Kendall and mom Kris Jenner on the first part of the Keeping Up With the Kardashians reunion with Andy Cohen that aired on Thursday, June 17.
"We're not friends," she admitted. "But we are OK. If I see him out or if I run into him anywhere, you know, I always wish him well. I have no bad feelings towards him."
Kylie — who was 20 at the time she became pregnant — never announced that she was expecting until after she had welcomed the couple's daughter.
"I stayed in my house and around my neighborhood," Kylie said of keeping her pregnancy a secret. "And then towards the end, there would be helicopters every day, I couldn’t even leave my [house]. I couldn’t even go outside, 'cause [paparazzi] would be shooting all my deliveries."
"I was also really young when I got pregnant. And it was just a lot for me, personally," Kylie explained. "I didn’t know how I would bring that to the public too and have [to deal with] everyone’s opinions. I think it was just something that I need to go through by myself. So I just decided to not even deal with that."
Khloé said "it was very joyous in our private life" — while Kendall admitted that she believed Kylie was "at peace" during her pregnancy.
Meanwhile, KUWTK executive producer Farnaz Farjam recently opened up about how Kylie found out she was expecting while filming Life of Kylie to Variety.
Farjam explained that the crew didn't know Kylie was pregnant because she "hid it from the cameras" and when she was tipped off by a family member, she thought it was a test as the Kardashians occasionally shared information "just to find out who was leaking."
"I was like, 'This person is lying to me and just trying to see!'" she said, but later Life of Kylie footage showed the exact moment Kylie and the rapper, 29, learned they were expecting.
Kylie and Stormi recently touched down in New York City to support Scott at the Parsons Benefit on June 15. A source told PEOPLE that there's "a different energy" between the former couple and co-parents.
"Although they always got along, there is a different energy between them now," the source noted. "Kylie and Travis are very close again."
The source added: "They never put any pressure on their relationship. The focus was always on being the best co-parents. They still keep separate homes in L.A. because this is what works for them."
According to an OK! insider, Kylie "told Travis that she doesn’t like the pressure of being exclusive, and if he’s not down with that, he’s free to stay as friends only."
"Travis has accepted her terms and is trying to make it work, but he doesn’t want to be laughed at behind his back. He’s hoping Kylie will be discreet — but she’s the one calling all the shots!" the source added.