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Gwen Stefani, The Ellen DeGeneres Show

Michael Rozman/Warner Bros.

Gwen Stefani had a "magical" summer.

The "Make Me Like You" singer kicked off her This Is What the Truth Feels Like Tour in Mansfield, Mass., July 12, which took her all over the United States and Canada. Gwen took her sons Kingston Rossdale, 10, Zuma Rossdale, 8, and Apollo Rossdale, 2, on the road with her, and the four of them had more fun than she ever imagined possible. "I felt like Rocky at the top of the steps. Like, 'I did it! I'm on tour!' It was such a crazy year, and then making that record and actually being face to face with the people that loved me and supported me throughout the year and listened to the music, it was like this big exchange of love," the pop star said on The Ellen DeGeneres Show Thursday. "I had this epiphany that they're a refection of my heart, because they're the people who actually listened and cared. I got to meet people before the show—like 50 people before the show every day—and they were telling me their stories and how they related to the music. It was incredible, because I hadn't done it in like seven years."

"Now that I'm a mother, I really hadn't toured with the boys," said Gwen, who loved "seeing dads who were, like, tatted up—they'd probably been old school No Doubt fans—with their daughter on their shoulders, like their first show. The whole thing was full circle and magical."

Before her 28-night tour began, though, Gwen was worried her boys wouldn't like life on the road. "I was so guilty because they worked so hard at school all year and then I'm going to drag 'em around on a bus all summer, but they had the best time," she said. Still, sometimes the cramped quarters created chaos. "I mean, we're on a bus. It's a lot. Can you imagine three little boys on a bus after you do a show? Like, 'get to bed!'" she said. "It's exhausting, but it was fun."

Zuma, in particular, loved helping Gwen backstage. "He had his flashlight, his headphones. He walked me on and off the stage every single night," she said of her roadie-in-training. "For two hours he worked back there and he was so into it. It was way more incredible than I could have ever imagined. I'm so grateful to everyone who came out. You know, when you're face-to-face, it's not like the Internet—it's them, it's those people. So, it was really cool."

Due to her schedule, Gwen was unable to do the current season of NBC's The Voice with her boyfriend, Blake Shelton, and fellow coach Adam Levine. "I got to go down to the set a few times, and it was really fun. It's surreal. You're there and you're like, 'I'm not on the show and it's Miley [Cyrus] and it's Alicia [Keys]. I mean, I love both of them. I know both of them and they're both so talented in their own ways ,and it's so fun to see them interact," Gwen said. "And Adam's actually been FaceTiming me all day because he just had his baby. She's so cute!"

Of course, Ellen DeGeneres had to ask about rumors that Gwen and Blake are planning a wedding. "I just need to know so I can clear that schedule," the daytime talk show host joked.

Gwen giggled, telling Ellen, "Oh, you're crazy."

"Just let me know," the comedienne said.

"OK," Gwen promised. "I'll let you know."