In a recent interview, legendary rock band Queen discussed their upcoming nationwide tour and how much Freddie Mercury would've loved their new frontman, Adam Lambert.

Lambert first connected with Queen during the American Idol season finale in 2009 when they stunned audiences around the world with an electrifying performance of "We Are The Champions." Response was so positive that they began talks for a tour, which they carried out to great success in 2014.

Now, Lambert, guitarist Brian May and drummer Roger Taylor are back at it again with plans to hit the road this summer. Ahead of their forthcoming tour, the trio sat down for a conversation with Entertainment Tonight about what it's like working together.

"We didn't plan it. It just happened really," May said. "Along came Adam, out of the blue. We saw him on American Idol and we'd already had an avalanche of messages saying already, 'This is the guy you need to sing for you! You should do this!' We felt good about it, so organically, suddenly, we were a band again. We're like family. It's amazing."

"I think it keeps happening because it's fun and people like it. Simple as that," Lambert added. "We have a good time on stage. Audiences are over the moon every show we do."

The performers went on to talk about the importance of honoring Mercury's legacy and how much he would've enjoyed singing with Lambert.

"Freddie is actually featured in our show, and I think Brian and I continually feel his presence because we grew up together and he's a part of our mental wallpaper," Taylor explained. "I think it's important that it comes over that we're actually enjoying playing together, but Freddie would have loved Adam. No doubt about it."

"I wish I had been able to meet him," Lambert concluded. "[He was] so inspiring... I feel like because he was so bold and fearless, he gives me so much permission to sort of take it wherever I want to take it. He didn't hold back at all."

The band will launch its 25-city North American tour this June in Phoenix.