Facebook Watch/Getty

Crawford also says she "always sensed a bitterness" in Whitney's mother.

With Crawford's memoir, "A Song For You: My Life With Whitney Houston," out now, Robyn spoke with Jada about her alleged romantic history with the legendary singer and how Whitney's mother, Cissy, felt about their relationship.

Waiting for your permission to load the Facebook Video.

"Whitney's mom had a little, I would call it fever, about our closeness," reveals Crawford in this TooFab sneak peek. "And Whitney was like, 'I need Robyn here. Where I'm going, I need someone who knows me now.'"

Revealing that she referred to Cissy as "Mrs. Houston," Robyn said Whitney's mother knows how Robyn felt about her daughter. "I wrote her a note after Whitney passed," she explained. "Mrs. Houston knows I loved Whitney and Whitney loved me."

Crawford also said she "always sensed a bitterness" in Cissy, which was in stark contrast to her "awesome" daughter, who should have given her "so much to be joyful about." As for what she thinks may have bothered Mrs. Houston, Robyn said it was likely fact "Whitney would listen to me."

"The only reason Whitney listened to me was because I listened to her," she added.

In a 2013 interview with Oprah Winfrey, Sissy confirmed she "didn't particularly like" Robyn. Winfrey also asked if it "would have bothered" Houston if Whitney was gay. "Absolutely," she said at the time, adding that she would not have liked or condoned it "at all."

See Jada's full interview with Robyn when "Red Table Talk" drops Monday on Facebook Watch.