The 51-year-old actor admitted on Wednesday's episode of the Kyle & Jackie O show that he "should've been nicer" to Kutcher after the 38-year-old star replaced him on Two and a Half Men.
"I was stupidly mean to him because I overlooked the reality and difficulty of taking over a show," he explained. "Which I did, I took over Spin City when Michael J. Fox was too sick to work, but no one ever put those two together. So, I should've been nicer."
Sheen was fired from Two and a Half Men in 2011 following a public meltdown and conflict with series creator Chuck Lorre. He said he has since tried to mend fences with Kutcher, who played Walden Schmidt on the CBS sitcom.
"I saw him at a Dodgers game back in September and I forced him into a handshake," the star recalled. "He was tasked with such an uphill struggle and I was more into my own ego than I was aware of his own battle. And for that I am regretful."
"It was awkward but I made it fine, because I felt bad for him. He thought he was going to catch a right cross, but I just wanted to give him a hug," he said of the encounter.
Sheen had nothing but vitriol for Lorre, however, telling the producer to "suck my [expletive] butt" in the interview. Lorre himself praised the actor in an interview with reporters in January 2015 for helping Two and a Half Men succeed.
"It would be inappropriate to not acknowledge the extraordinary success we had with Charlie, and how grateful I am -- we all are -- for his contributions," he said at the time.
Sheen also offered an apology to Rihanna this month after name-calling the singer on Watch What Happens Live. He and the 28-year-old star initially clashed in 2014 after Rihanna reportedly refused to meet his then-fiancée, Brett Rossi.