Hi Erik,
It would make more sense for you to say "I have a good relationship with my parents" rather than "I have good relations". The reason for this is because the word 'relations' would be more likely to be used to describe the way in which two or more people or things are connected, e.g: "The Ashmore family are distant relations of mine."
You could say, "Relations are good between myself and my parents" but this phrasing is very formal and would not be a native way of speaking. You would typically find phrasing such as this in the discussion of politics, e.g. "Relations between Russia and the US have grown tense".
I hope this helps :)