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12 February 2013, 14:26 | Updated: 12 February 2013, 14:28
The 'Party' singer has also spoken about what happened on the day Blue was born.
Beyonce has described daughter Blue Ivy as her "road dog" and "best friend", while opening up about giving birth to her first child last year.
The 'Countdown' star and husband Jay-Z welcomed their baby back in January 2012, and Beyonce says the two are now inseparable.
"She's my road dog," Beyonce told Vogue in their new issue, regarding the pair's bond. "She's my homey, my best friend.
The 'Love On Top' singer went on to discuss the birth of Blue Ivy last year, describing it as the "best day" of her life so far.
"I felt very maternal around eight months and I thought I couldn't become any more until I saw the baby," Beyonce recalled ."But it happened during my labour because I had a very strong connection with my child.
"I felt like when I was having contractions I envisioned my child pushing through a very heavy door.
"And I imagined this tiny infant doing all the work, so I couldn't think about my own pain," Beyonce explained. "We were talking. I know it sounds crazy, but I felt a communication.
"My family and my closest people were there when I gave birth," she added. "Everything that scared me just was not present in that room. It was the best day of my life."
Check out a picture of Beyonce on stage at the US Super Bowl 2013 below (Credit: Getty):
Last weekend, Beyonce attended the Grammy Awards 2013 in person (10th February) where she accepted the award for Best Traditional R&B Performance as well as introducing Justin Timberlake's performance.
Beyonce's documentary film Life Is But A Dream will air on HBO this Saturday (16th February).