Non Custodial Parent !!! PLEASE HELP

My husband and I have joint legal and physical custody of his 9 year old. The judge told us that if her bio mom wanted to see her she'd have to file for visitation rights? So does that mean she still has rights to her daughter ? Or she has to petition the court for parental rights ? Judge told us as far as medical, school, or etc. We have say so and we didn't have to share any information if we didn't want too.