TV sitcoms have given us some of the most iconic characters of all time: Sam Malone, Rachel Green, Kramer, Michael Scott. What they’ve also done is provide us with some much needed comic relief when it comes to motherhood. The following moms give us permission to laugh at ourselves, rather than berate ourselves for the inevitable mistakes we make along the way.

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Their approaches and comments are hilarious because there’s truth at the heart of it. Motherhood is not for the weary, and we all need back up. It certainly shows up in the form of these 10 characters.

10 Kitty Forman: That ‘70s Show

Kitty Forman is a goofy, sunny, and fun-loving mom who holds her own with her cantankerous husband, Red. In addition to being a mom to her two children, Laura and Eric, she “adopts” Eric’s close circle of friends, who all view her as a second mother. Kitty has reasonable expectations for her teenage son, Eric: “You don’t want him to be entirely sober. You know how those people are.

Her sweetness is palpable, but like us all, every so often she can come off the rails. (Remember her rants chock-full of expletives, or her short stint as a pot-head?) She’s the mom that will drop by for a glass of wine, but bring 3 bottles with her. Everyone needs a Kitty in her life.

9 Estelle Costanza: Seinfeld

George Costanza’s parents are hilarious in that you’re-so-glad-they’re-not-yours kind of way.  Equal parts sweet and shrill, Estelle makes her way into our hearts because she operates on one mode at all times: yelling. Who could blame her when she’s married to Frank? When she contemplates filing for divorce, she receives advice over the phone from a woman named Donna Chang. This eases her fears.

However, when she meets her in person, Estelle is in disbelief because Donna is caucasian: “I thought I was getting advice from a Chinese woman. Well, that changes everything. She’s not Chinese. I was duped! I’m not taking advice from some girl from Long Island.

8 Sophia Petrillo: The Golden Girls

The Golden Girls is still considered one of the most progressive sitcoms, dealing with some pretty racy issues for its time.

This forward-thinking trend continues with Sophia Petrillo, Dorothy’s feisty Sicilian mother: “She happens to like girls instead of guys. Some people like cats instead of dogs. Frankly, I’d rather live with a lesbian than a cat. Unless the lesbian sheds, then I don’t know.” Always with her purse in hand (even when wearing her nightgown), Sophia mothers Dorothy with both sarcasm and love.

7 Claire Dunphy: Modern Family

You can’t help but gravitate toward Claire Dunphy, a slightly neurotic perfectionist and dedicated working mom, because we get it. We’ve all been there. While still seeking the approval of her sarcastic father, she is endlessly frustrated with her loving, yet naive, husband, all while managing (literally) 3 children and 2 grandchildren.

Never one to hold anything back, she says the things you wish you could say to your teenager children. When her daughter Haley comes downstairs wearing a revealing skirt, she is not shy with feedback:  “People know you're a girl.  You don't need to prove it to them.” Although Claire is relentlessly committed to her full-time job, her devotion to being a mother is what drives everything she does.

6 Leslie Knope: Parks & Recreation

Idealistic and hardworking Leslie Knope, played by none other than Amy Poehler, possesses an unbridled passion for parks. She gives everything she does 100% (even things that don’t necessary warrant 100%). With her unwavering positivity she is charmingly naive, believing that “guys love it when you’re better at something they love.

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When she and Ben become pregnant, not one, not two, but three babies appear on the sonogram! Doubting their ability to handle triplets, she finally concludes (in the same sentiment as her campaign slogan), “Knope we can!”

5 Debra Barone: Everybody Loves Raymond

Debra Barone is our hero because she endures what every wife fears: the overbearing mother-in-law who lives next door. And she’s able to do it with a sense of humor (most of the time). Her mother-in-law, Marie Barone, loves to cook, clean, and criticize her daughter-in-law.

On top of that, she still coddles Debra's husband.  Because Raymond is playful and fun-loving, she often leans toward the more serious side, often fed up being the responsible parent. Who can’t relate to that?  “You know what, I’m tired! Can you just call yourself an idiot already?” We feel you, Debra.

4 Judy Gellar: Friends

Although Judy Gellar is a sporadic character, when she does turn up in an episode it is a welcome surprise. She is never flummoxed by the antics of her children. Her dry sense of humor and poised disposition prevail regardless of what Ross and Monica serve up. Every mom could use a dose of this zen.

Although Ross is the favored child, she has no qualms embarrassing him: “One time, I was about to leave Ross to go to the beauty parlor. And he got so upset he took off all his clothes, tucked his willy between his legs and cried out, ‘Mommy, I'm a girl. Take me with you!’”

3 Vivian Banks: The Fresh Prince of Bel-Air

Vivian Banks is a strong, vivacious, and loving woman who won’t take any back talk from her children, or anyone for that matter. The premise of The Fresh Prince of Bel-Air is a powerful one: when a kid from a rough neighborhood gets involved with the wrong crowd, his mother sends him to live with his wealthy aunt and uncle.

Aunt Viv welcomes her nephew, played by Will Smith, into her home and treats him as one of her own. Insult one of her children and that’s when the claws and the priceless insults come out. What mother can’t appreciate that?

2 Jill Taylor: Home Improvement

Raising three boys is a feat in itself, but when your husband is also Tim “The Tool Man” Taylor, your plate is full. Living in a world of boys, tools, and men, she holds her own. Her sense of humor is not a bonus accessory; it’s a survival necessity.

Her dry quips are a perfect compliment to Tim’s goofiness: “I’m perfectly happy being married to a man who thinks that PBS is something that women get once a month.”

1 Jessica Huang: Fresh Off the Boat

Jessica Huang is a smart, competitive, and frugal woman who believes everything is negotiable (even the price of a box of ice pops from the supermarket). In today’s world of helicopter moms and endless positive reinforcement, her no nonsense and blunt parenting style is refreshing: “Why are Americans so obsessed with being friends with their children? I have no children friends.

Her family moves from Washington D.C. to Florida so her husband could pursue his American Dream of owning a restaurant. She wants to provide the best opportunities for her 3 sons, while also keeping them in line: “Eddie, I could get by with only 2 sons. Think about that.”

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