Alec and Hilaria Baldwin exclusively open up to Us Weekly about filming their ‘raw’ and ‘vulnerable’ TLC docuseries

The actor joked Tuesday at the grand reopening of Planet Hollywood in Times Square that his children are "already renegotiating their contract."

Alec Baldwin tells PEOPLE it was a "unique" time when the family were filming their new TLC series The Baldwins amid last year's Rust shooting trial; Cameras began rolling on the

They weren’t taking any chances. In the third episode of their TLC reality series “The Baldwins” (airing Sundays at 10 p.m.), Alec and Hilaria Baldwin open up more about their feelings around the actor’s “Rust” trial.

"This is going to sound so stupid but I wrote the kids — that I left here — little letters and hid them. I told my friend where they were in case something happened to us," Hilaria revealed on the family's new TLC series, The Baldwins.

Alec and Hilaria have opened up about their emotions around the Rust trial in their new reality series 'The Baldwins.' While he’s prohibited from speaking about the case, he does share his struggles w

The '30 Rock' alum jokingly tells PEOPLE that his seven children are "already renegotiating their contract" after the first season of their reality show premiered last month