Alyssa Milano sure seems to have perfected the art of mommy multitasking. Returning to TV in ABC's Mistresses (Monday, June 3 at 10 p.m.), the Who's the Boss? alum, 40, managed to have the best of both worlds when it came to filming her latest project, though it kept her day jam-packed. "I had just given birth when we shot the pilot, so I was still breastfeeding," Milano -- who pumped breast milk every two hours in between takes -- told Us Weekly prior to her show's premiere.

"Bless those men that put up with me, because I wasn't feeling so sexy, let me tell you!" Milano continued, referring to her male costars Jason George, Brett Tucker and Erik Stocklin.

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Taking on the role of married attorney Savannah Davis on Mistresses -- the U.S. revamp of the popular BBC drama -- Milano appreciated the fact that she could portray a strong, sexy woman on the small screen. "I love playing women that are flawed, and right from the pilot, she makes a decision that has some heavy consequences, so I knew that that exploration would be really challenging and fun to play," explained Milano, who costars alongside Yunjin Kim, Jes Macallan and Rochelle Aytes.

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"The foundation of the show is the friendship between the women, and no matter what situation that we get ourselves into . . . we have the support of our friends. If they can't be honest with you, then who can?" says Milano. "Combined they make the perfect woman. They each represent different parts of a woman's psyche and being, and they complete each other."

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Another selling point for Milano was the fact that Mistresses -- featuring an ensemble cast -- filmed close to home and afforded her a flexible schedule. "Having some stability and security of being in Los Angeles and knowing my son can come with me to work [was a big factor]," the actress tells Us. "The fact that it's an ensemble also means I get a couple days off a week so I can be with my child."

Mistresses premieres Monday, June 3 at 10 p.m. (EST) on ABC.

This article originally appeared on Usmagazine.com: Alyssa Milano Pumped Breast Milk Every Two Hours On Set of Mistresses