Discussing his involvement in the new Bryce Dallas Howard-directed documentary — which also sees appearances from celebrity fathers like Patton Oswalt, Will Smith, Jimmy Fallon and Neil Patrick Harris — Thompson says becoming a dad himself "definitely stamped my existence outside of myself."

"It just all happened at kind of the same time. We were married for three years before we had a baby, but it was always in our mind. So it was always that plan," he tells PEOPLE. "The whole family-man thing of it all just kicked right in, and it's just been an amazing ride."

"I've definitely grown and matured in ways that I never imagined," Thompson adds. "And then there were ways that I did imagine that come through, like dropping my kids off at school and what that experience was like, and having things come full circle like that — like watching a big girl do her homework. It's just been amazing."

Dads is playing now on AppleTV+.

For more from Kenan Thompson, pick up this week's issue of PEOPLE, on newsstands now.

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