My kids are 15 and 18. I spend a LOT of time with both and with each, one-on-one. They are quickly figuring out this world, and their place in it. They are, apparently, VERY comfortable discussing virtually anything with me. I frequently see them emulating or trying out things they hear or see me do. They are SPONGES at this age, taking in more of what I impart than they ever have before. It is both daunting and wonderful.
I share in many of their activities (band, arts, and academics being huge), and cross into their realm a bit, so far as music, movies, books, and internet go. However, when the chips are down, they know I am mom and not teen aged buddy wannabe. So far, it's working. The parenting is far from done, though.
Don't expect a cleaner house with teens, BTW. Mine cook just enough to make a mess of the kitchen while leaving dishes all over the house.