In the interview with Paris Match, Charlene revealed that the twins were born two weeks early, but that she was overjoyed the first time she heard the babies cry.
"At first, I was happy to hear their first cries. I was obviously a bit overwhelmed with emotion. Every second with them is magical. I look forward to spending more time in their presence", said Charlene.
"Watching them grow is wonderful. It changes lives forever."
Charlene and her twins, the first royal heirs in Monaco for decades, are still in hospital, but Charlene admitted that she hoped she would be able to leave in time to have Christmas at home with her newborns, adding: "It depends on the kids ... You see, they are the 'boss' now."
Speaking of her children, Charlene gushed: "What I can tell you is that they are both very active and very expressive. They are beautiful, adorable, I'm crazy in love with them."
The 36-year-old princess who married Prince Albert in 2011, also revealed that the royal pair hope to show off their newborns for the first time "by early next week" although a formal presentation will be held for the Monaesque people in January.
A former Olympic champion, Charlene has previously spoken of how much she wanted to start a family, and she revealed: "I think a very strong protective instinct in me was born in the same time. A strong bond unites us, they are my responsibility in the coming years.
"And I will do my best to guide them, raise them and send them the values that my husband and I share. This is an exciting mission and we will give the best of ourselves to achieve it. For now, we are enjoying every moment."