Kate Middletonis a natural with kids.

During thePrince Williamand Kate’svisit to south Waleson Tuesday, the royal mom met 3-year-old Annabel shortly after their arrival at Mumbles Pier.

“I said to her that Annabel was really excited to meet a real princess,” Annabel’s mother, local family doctor Rhian Costello, tells PEOPLE. “And she said, ‘I’m sorry I’m not wearing a pretty dress today.’ Annabel then said that she thought she’d look like Cinderella.”

Dr. Costello, who also has 18-month-old twins at home, adds, “She was very, very natural and lovely and sweet with the children. She was so lovely talking to as many people and children as possible. She said that Annabel looked cold and asked how long we’d been waiting. I thanked them for coming to Wales and that it’s so lovely they come and bring their publicity.”

Kate then responded that she and William “would like to try to come more as they always enjoy coming down to visit.”

Tim Rooke/Shutterstock

Catherine Duchess of Cambridge

Kate Middleton.Steve Parsons/PA Images via Getty Images

The Duchess of Cambridge

During their visit, Kate andPrince Williammet with rescue crews and volunteers at the local lifeboat station and watched the crew engage in a launch before heading to Joe’s Ice Cream Parlour, a quintessential British haven.

Kate Middleton.Mark Cuthbert/UK Press via Getty

Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge

During their visit, William and Kate discussed the princess’ survey on children’s early years, called “5 Big Questions on the Under Fives.” The survey was launched this month as the royal mom of three undertook a whirlwind 24-hour tour that also took in the Welsh capital Cardiff. Last week, it emerged that more than 100,000 had taken part in the month-long project.

Kate Middleton and Prince William.Mark Cuthbert/UK Press via Getty

Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge

Prince William and Kate Middleton.Tim Rooke/Shutterstock

Catherine Duchess of Cambridge and Prince William

Steve Parsons/PA Images via Getty Images

The Duke and Duchess of Cambridge

Kate Middleton and Prince William.Steve Parsons/PA Images via Getty Images

The Duke and Duchess of Cambridge

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source: people.com