Bobby Brown has been having a recurring dream and it's a beautiful one.

"I always see them at beaches or in fields," Brown tells PEOPLE in this week's issue of his late children, daughter Bobbi Kristina and son Bobby, Jr., who died at ages 22 and 27 in 2015 and 2020, respectively, both as a result of drug abuse.  

He continues, "They're running away, but they're laughing. And they're always together. I didn't have many dreams about Bobbi Kris before Bobby Jr. died. But then all of a sudden - floods of dreams." 

The 53-year-old R&B music star is opening up to PEOPLE ahead of the release of his new A&E docu-series Biography: Bobby Brown, premiering May 30.

The two-part series delves into his tumultuous life and times, including his battle with addiction, his ill-fated marriage to superstar Whitney Houston, as well as his deepest sadness: the loss of his two children.