Afterwards, the soon-to-be exes visited a Manhattan restaurant.
Bloom, 36, and Kerr, 30, previously announced the end to their two-year marriage and six-year relationship, saying they would still love each other "as family."
"They have been amicably separated for the past few months. After six years together, they have recently decided to formalize their separation," the couple's reps said in a joint statement on Friday. "Despite this being the end of their marriage, they love, support and respect each other as both parents of their son and as family."
Bloom and Kerr's behavior echoed his remarks from earlier in the weekend, when a TMZ photographer asked if he and his estranged wife would remain friends.
"We're not friends, we're family," Bloom replied.