May 27, 2016 03:03 AM EDT

Robert Downey Jr., 'Iron Man 4' To See Return Of Gwyneth Paltrow?

Gwyneth Paltrow may work once more with Robert Downey Jr. in "Iron Man 4." The actress' character was not present in "Captain America: Civil War."

Us Weekly reported that Robert Downey Jr. joked about Gwyneth Paltrow's return in "Iron Man 4" during "The Howard Stern Show" on May 4. The 51-year-old actor shared his thoughts on the actress' comeback for the sequel.

"I guess I can dream a little bit. My free pass is - because her and [my wife] Susan are such good friends - is Paltrow," Downey Jr. said in the SiriusXM broadcast. "I gotta get her back in these movies so I can make out with her onscreen again."

Robert Downey Jr. also admitted that he and Gwyneth Paltrow could only kiss if the cameras were rolling on set. The Goop founder is currently dating producer Brad Falchuk.

"She's coming back," the actor added. "We need her."

The "Iron Man" star also gushed about being happily married. He and his wife got married in Aug. 2005 and have two kids together.

"I liked to drink, and I had a drug problem, and that didn't jibe with Sarah Jessica, because it is the furthest thing from what she is," he said about ex-girlfriend "Sex and The City" star Sarah Jessica Parker. "She provided me a home and understanding. She tried to help me."

Robert Downey Jr.'s "Iron Man 4" appearance may be his last, though. According to ABC News, the actor revealed what he thought of his future in the franchise.

"It's like any athlete," he said. "To me, when I come to really respect a player is when you realize you're done, dude. Your stats aren't keeping up. You're at this age...please, hang up your jersey before you do something stupid and embarrass yourself."

"Iron Man" stars Robert Downey Jr., Gwyneth Paltrow and "Captain America: Civil War" actor Chris Evans recently paid a special visit to an 18-year-old fan battling with leukemia, EW reported.

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