"I'm not encouraging them to do nothing. They have to be what they are, kids at the moment," he said on Monday's Larry King Live
He said the "Jackson Three" rumors are "a bunch of jive."
See photos of Jackson and his kids through the years
He also denied ever abusing his late son, who died June 25 at age 50 after suffering cardiac arrest, despite previous accusations from the King of Pop himself.
"I never abused my son," Joe insisted. "Michael was never beaten."
See Michael Jackson's life in photos
Joe revealed that he didn't know the location of his son's body.
He also said that although he hasn't seen any results from the family's private autopsy, he still suspects "foul play" in his son's death.
Look back at Jackson's most unforgettable moments
Speaking of the singer's private physician Dr. Conrad Murray, Joe said: "The doctor gave him something to make him rest and he don't wake up no more. Something is wrong."
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