It was the twerking seen 'round the world, and in the nearly three weeks since Miley Cyrus and Robin Thicke took the stage together at the VMAs, it seems everyone has had something to say about their joint performance. The "We Can't Stop" singer previously told MTV News that she took the stage "wanting to make history" and added that she didn't "pay attention to the negative because I've seen this play out so many times." However, Thicke hadn't said a word until now.

In his first interview about the VMAs, he revealed that every GIF-making moment was carefully planned out before the pair took the stage.

"We knew what we were getting ourselves into. We're entertainers, and the VMAs is the perfect place for a little shock and awe. Yeah, we kind of knew when we were in rehearsal and we were like, 'OK, if you touch me with your foam finger all over my crotch, obviously a few people are going to have something to say about this.' But that was the whole point," he told Star magazine. "I mean the whole point was to excite and provoke and entertain."

During the unforgettable performance, Miley strutted onstage with giant teddy bears, stuck out her tongue and even got her groove on with Thicke wearing a nude-colored bikini. And the "Blurred Lines" singer understands why some people may have felt it was a little too scandalous.

"Everybody comes from different places and has their own opinions. But when people use the word 'sexual,' I didn't feel anything sexual about the performance. I thought it was silly and funny. She was being humorous and naughty. But it wasn't sexually charged at all," he said. "That's who she is and that's how she likes to dance. And she was just being herself and I was just being myself."

Lady Gaga Defends Miley Cyrus' VMA Performance!

Considering it was his wife, actress Paula Patton, who gave his NSFW video for "Blurred Lines" her seal of approval, it shouldn't come as a surprise that she also couldn't get enough of his VMAs performance. "She loved it. I think it looks different on screen than it does when you're in the arena. It was really just a circus and she thought it was great. She enjoyed it," he said. "It's the VMAs. You're supposed to have some fun."