Dame Judi Dench has highlighted the importance of people being able to “live authentically as themselves”.

The 91-year-old actress will speak to Sir Ian McKellen, 87, on a new episode of Tea With Judi Dench.

Ahead of its release later this month, Dame Judi has reflected on their conversation – including how her long-time friend came out as gay and regretted not sharing his true self with his parents.

Speaking about whether she believed their discussion could impact people around the world, she said: “It’s a private matter, but nobody should ever feel that they can’t intrinsically be themselves, but also nobody should be made to feel that they have to declare anything about themselves, sexuality, religion, their age, nothing.

“It’s not about what we do but as long as people can live authentically as themselves, I feel that that is quite important.”

During the episode, Sir Ian speaks about coming out as gay and his fight against Section 28, a law introduced under Margaret Thatcher that “prohibited the promotion of homosexuality by local authorities”.

He will also speak about one of his greatest regrets: never sharing the truth about his sexuality with his parents.

After fighting against Section 28, Sir Ian also explained why it was important to continue to have conversations about that period of history.

He said: “We should always be alert to the possibility that established rights can be removed. So telling younger people how their freedoms were fought for may one day, regrettably, come in handy.”

Teasing their chat, Dame Judi said what unfolded in front of the cameras was “all so completely spontaneous” and they “never drew breath” while sharing their memories.

“We don’t really sit and think about the impact our history and our stories have on other people; it’s just the way our careers have unfolded and how lucky we’ve been,” she added.

Although the actress said it had “been awhile” since they had last caught up, with a friendship spanning more than 50 years, there were “very few surprises” for her when they sat down together.

The pair worked together on stage in The Promise in 1967, Too True To Be Good in 1975 and most famously in Macbeth in 1976.

When the episode was announced Dame Judi said it was a “great privilege to continue these conversations and capture moments of great friendship”.

The first episode of Tea With Judi Dench was released in December and saw the actress chat with Sir Kenneth Branagh at her home.

Filmed at Dame Judi’s Surrey home, the upcoming episode sees her and Sir Ian discuss Shakespeare, stage fright and the insecurities of acting in such popular franchises as Bond and Lord Of The Rings.

Tea With Judi Dench will air on August 31 on Sky Arts, Freeview, and streaming service Now.