I lost my parental rights to my kids but my husband didn't. We were forced to get a divorce. Can we still have a relationship as a couple and can I be around him and the kids?

Probably.

Who "forced" you to get a divorce, and how?

Child protective services

So CPS said that if he didn't divorce you they would take the children from both of you? If so (quite odd, by the way), they may very well determine that the children are at risk, if you get back together, and take them.