What was Queen Elizabeth I's relationship with her mother and stepmothers?

[SamanthaSimsons]

ever since watching the series The Tudors i've been curious what was her relationship with her mother and stepmothers. Did she and her mother had a loving relationship? What was her relationship with Jane Seymour, Anne of Cleeves, Katherine Howard, and to Catherine Parr? i really want to know. pls help!!!