The 25-year-old singer discussed Hadid in the July issue of GQ after appearing to reconcile with the 23-year-old model following their split in the spring.
"I'm really thankful I met her," Malik told the magazine. "We're still really good friends, and we're still in contact. No bad blood."
"We're adults. We don't need to put a label on it, make it something for people's expectations," he said of their relationship status.
Malik credited Hadid with helping to reset his attitude during the release of his first solo album.
"I had a very negative outlook on things. That might have been adolescence or testosterone ... at the time," he said. "She's helped me to look at things from a positive angle."
Malik and Hadid announced their split in March after two years of dating, but were spotted kissing in New York the next month. The pair got close in a photo Hadid shared following the New York premiere of Ocean's 8 this month.