She said: "Ben and I have a connection between us that just feels right. I don't know any other word for it.
"His proposal was such a shock. But we felt married anyway. We've been together ever since the first date."
Robin - who was previously married to Dane Witherspoon and has two children, Dylan, 24, and Hopper Jack, 22, with second ex-husband Sean Penn - also gushed that sex with Ben was the best she ever had.
She said: "I've never been happier in my life than I am today. Perhaps it's not ladylike [to say], but I've never laughed more, read more, or come more than with Ben.
He inspires me to be the best of myself. There's so much to learn. It's endless. How great!.
"It took me a long time to grow up. Love is possible as life is possible."
- Bang! Showbiz