Knowles is speaking to BBC News ahead of the publication of her new memoir, Matriarch.
It covers her childhood in Texas, her daughters' rise to fame and her later years, as a grandmother.
Knowles now has four grandchildren, including Julez Smith, the son of her younger daughter, singer-songwriter Solange. She also considers herself a grandmother to former Destiny's Child singer Kelly Rowland's children.
She says that she sees all her grandchildren regularly, describing them as "one of the biggest joys in my life".
"[Blue Ivy and I] have a very close bond," she says of her eldest granddaughter.
"I'm so happy that she feels like she can talk to me," she says, adding that Blue Ivy is always giving her advice about taking care of herself.
"She's my beauty guru. She's my manager," she says.
I'm intrigued by this, and ask why she calls the 13-year-old her manager.
"Well, I don't call her my manager. Everybody else calls her my manager, because she's bossy. She's a little Capricorn like me. So we have that bond."
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