When Jennifer Esposito was a struggling actress, she made ends meet by working as an exercise instructor in Manhattan. The Samantha Who? actress continues to keep fitness a priority – the evidence is her bikini photo shoot in April’s Shape magazine.

The actress, who shares her no-fail workout plan in the magazine, says her mom has always been her biggest supporter.

“When I was 6, I told my mom I wanted to be an actress, live in New York City, and have two dogs,” she says.

What advice did her mother, who was married and pregnant at 18, give? “She told me, ‘You go girl! You can do whatever you set your mind to. Don’t settle, and don’t depend on anyone but yourself,’ ” Esposito tells Shape.

These days, mom is still her daughter’s biggest fan – even if she doesn’t understand every little nuance of showbiz.

“She called me recently and said, ‘You’re going to win an Oscar for Samantha Who?” laughs Esposito. “I had to tell her you don’t win Oscars for TV roles.”