"We are truly this close!" Ripa joked with ET's Brooke Anderson at this year's TrevorLIVE Gala in New York on Monday, where she and her husband were honored for their advocacy efforts.
Ripa -- who also shares 22-year-old son Michael and 16-year-old son Joaquin with Consuelos -- said she already knows how she's going to live her life when all her kids have finally moved out into their own places.
"I'm truly going to be running through the house naked," she explained. "I just want everybody to know that. I'm going to be sitting on every piece of furniture naked. Be warned before you come over. That's what I'll be doing in my spare time."
Speaking of being naked, Ripa was joined by Consuelos as a guest host on Live with Kelly and Ryan on Monday, where the pair revealed that their daughter inadvertently walked in on them getting intimate on Father's Day morning, which also happened to be her birthday. Needless to say, it was a bizarre experience all around, but Consuelos told ET that Lola "is fine."
"We saved the birthday cake for tonight," Ripa joked.
"She wasn't hungry yet," Consuelos added with a laugh.
Kelly Ripa and daughter Lola together
Kelly Ripa and daughter Lola together
NEW YORK, NEW YORK - DECEMBER 09: (L-R) Kelly Ripa, Lola Grace Consuelos and Anderson Cooper attend the 12th Annual CNN Heroes: An All-Star Tribute at American Museum of Natural History on December 09, 2018 in New York City. (Photo by Dominik Bindl/Getty Images)
NEW YORK, NEW YORK - DECEMBER 09: Kelly Ripa, Lola Grace Consuelos and Anderson Cooper attends 12th Annual CNN Heroes: An All-Star Tribute at American Museum of Natural History on December 09, 2018 in New York City. (Photo by John Lamparski/WireImage)
AMERICAN MUSEUM, NEW YORK, UNITED STATES - 2017/12/17: Kelly Ripa wearing dress by Stella McCartney & Lola Consuelos attend 11th annual CNN Heroes All-Star Tribute at American Museum of Natural History. (Photo by Lev Radin/Pacific Press/LightRocket via Getty Images)
NEW YORK, NY - DECEMBER 17: (L-R) Kelly Ripa, Lola Consuelos and Anderson Cooper attend the 11th Annual CNN Heroes: An All-Star Tribute at American Museum of Natural History on December 17, 2017 in New York City. (Photo by Mark Sagliocco/WireImage)
ASBURY PARK, NJ - MAY 07: Kelly Ripa and her daughter Lola Grace Consuelos attend the 2017 New Jersey Hall Of Fame Induction Ceremony at Asbury Park Convention Center on May 7, 2017 in Asbury Park, New Jersey. (Photo by Bobby Bank/Getty Images)
HOLLYWOOD, CA - OCTOBER 12: Kelly Ripa, husband Mark Consuelos, daughter Lola Consuelos, sons Michael Consuelos and Joaquin Consuelos attend the ceremony honoring Kelly Ripa with a star on the Hollywood Walk of Fame on October 12, 2015 in Hollywood, California. (Photo by Axelle/Bauer-Griffin/FilmMagic)
NEW YORK, NY - MAY 09: (L-R) Mark Consuelos, Joaquin Consuelos, Kelly Ripa, Lola Consuelos and Michael Consuelos attend the 26th Annual GLAAD Media Awards at The Waldorf Astoria on May 9, 2015 in New York City. (Photo by Desiree Navarro/WireImage)
HOLLYWOOD, CA - OCTOBER 12: Mark Consuelos, Lola Consuelos, Kelly Ripa, Joaquin Consuelos and Michael Consuelos at the Kelly Ripa Star Ceremony on The Hollywood Walk Of Fame on October 12, 2015 in Hollywood, California. (Photo by Albert L. Ortega/Getty Images)
NEW YORK, NY - DECEMBER 13: Kelly Ripa and Lola Grace Consuelos are seen on December 13, 2013 in New York City. (Photo by Alo Ceballos/FilmMagic)
NEW YORK, NY - OCTOBER 31: Kelly Ripa, Joaquin and Lola are seen in Soho on October 31, 2013 in New York City. (Photo by Raymond Hall/FilmMagic)
NEW YORK - NOVEMBER 04: Television personality Kelly Ripa (L) picks up her daughter Lola Consuelos from school on November 04, 2009 in New York City. (Photo by Ray Tamarra/Getty Images)
WATER MILL, NY - AUGUST 1: Lola Grace Consuelos and Guest attend DONNA KARAN, ARIEL FOXMAN and INSTYLE along with KELLY RIPA and BLAKE LIVELY present SUPER SATURDAY 12 at Nova's Ark Project on August 1, 2009 in Water Mill, NY. (Photo by DAVID X PRUTTING/Patrick McMullan via Getty Images)
WATERMILL, NY - JULY 26: Kelly Ripa and Lola Grace Consuelos attend the Ovarian Cancer Research Fund's Super Saturday 11 benefit hosted by Donna Karan at Nova's Ark Project on July 26, 2008 in Watermill, New York. (Photo by Rick Odell/Getty Images)
- AUGUST 31: Kelly Ripa and Lola Consuelos attend SYBIL and DAVID YURMAN Host A Luncheon For GRAND PRIX SUNDAY at THE HAMPTON CLASSIC at Bridgehampton on August 31, 2008. (Photo by Patrick McMullan /Patrick McMullan via Getty Images)
Television personality Kelly Ripa and husband actor Mark Consuelos sighting walking in SOHO with their daughter Lola on March 30, 2008 in New York City. (Photo by Marcel Thomas/FilmMagic)
NEW YORK CITY, NY - SEPTEMBER 2: Kelly Ripa and Lola Consuelos attend SYBIL And DAVID YURMAN Host A Luncheon For GRAND PRIX SUNDAY At THE HAMPTONS CLASSIC at Bridgehampton on September 2, 2007 in New York City. (Photo by PATRICK MCMULLAN/Patrick McMullan via Getty Images)
UNITED STATES - MAY 14: Mark Consuelos, wife Kelly Ripa and their children (from left) Michael Joseph, Lola Grace and Joaquin Antonio arrive at the Chelsea West Cinemas for a special screening of the movie 'Shrek the Third.' (Photo by Richard Corkery/NY Daily News Archive via Getty Images)
BRIDGEHAMPTON, NY - SEPTEMBER 3: (L-R) Kelly Ripa, Joaquin Antonio Consuelos, Michael Joseph Consuelos, Mark Consuelos and Lola Grace Consuelos attend Fendi Cup Jumper Competition, Hampton Classic Horse Show at Grand Prix Tent on September 3, 2005 in Bridgehampton, NY. (Photo by Patrick McMullan/Patrick McMullan via Getty Images)
Kelly Ripa and Lola Grace Consuelos during Super Saturday 8 - The World Famous Designer Garage Sale Benefiting The Ovarian Cancer Research Fund Hosted by Donna Karan and Kelly Ripa at Nova's Ark Project in Water Mill, New York, United States. (Photo by Djamilla Rosa Cochran/WireImage)
WATERMILL, NY - JULY 31: TV personality Kelly Ripa and daughter Lola arrive at 'Super Saturday in the Hamptons' at Nova's Ark Project on July 31, 2004 in Watermill, New York. (Photo by Matthew Peyton/Getty Images)
Kelly Ripa & husband Mark Consuelos & children Michael, Lola & Joaquin in kelly's arms (Photo by Robin Platzer/FilmMagic)
NEW YORK - April 13: (L-R) Jay Goede, Lola Consuelos and mother Kelly Ripa with Mark Linn-Baker backstage on Opening Night for 'A Year With Frog and Toad' at The Cort Theatre in New York City (Photo by Bruce Glikas/Getty Images)
Kelly Ripa with daughter Lola at a Halloween party to benefit New York Weill Cornell Medical Center's Big Apple Circus Clown Care Unit at Dylan's Candy Bar in New York City. October 20, 2002. Photo by Evan Agostini/ImageDirect.
Kelly Ripa with her daugther Lola Grace and her son Michael Joseph at a party celebrating the opening night of 'Blue's Clues Live! Blue's Birthday Party' at Radio City Music Hall in New York City. 4/26/02 Photo by Scott Gries/Getty Images
Discover More Like This
BACK TO SLIDE
Meanwhile, the happy couple turned out in style to the TrevorLIVE New York Gala at Cipriani Wall Street, hosted by The Trevor Project, where the pair were honored with the Champions Award for their continued allyship and commitment to supporting The Trevor Project's mission to end suicide among LGBTQ youth.
Ripa and Consuelos, who have been active participants in the organization's efforts for a decade, said the honor was very special for them, and they were moved by the heartbreaking stories of young people who have been shunned by their families over their sexual orientation.
"I think [we're moved by] the inspirational stories when you come here and hear the stories of kids being alienated and abandoned by their families. As parents, I can't imagine a scenario when our kid came to us and told us something like that and pushed them out," Consuelos shared.
"All a child wants, no matter their sexual orientation or gender identity, all they want is acceptance and love and encouragement," Ripa added.