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You will have to file a petition for guardianship/conservatorship of the children with the family law court of your county. If the mother consents to your petition, this should be mostly a formality to get this done.
Once you file a petition, the mother can sign a joinder in the petition supporting the relief you request. The coulr should then give you an order granting guardianship and conservatorship over the child.
I would recommend that you hire a local family law attorney to file the petition on your behalf and get your a court order granting you guardianship. Once you have this, you will have all rights to the children.