Robin Thicke is finally speaking out about his much-maligned 2013 MTV Video Music Awards performance with Miley Cyrus. Initial reports said he was peeved about the whole thing because Cyrus' tongue-slobbering spectacle took away from his big VMA debut. Is there any truth to that?

Not quite!

"We knew what we were getting ourselves into," he laughed to Star (via Billboard). "We're entertainers. You know, the VMAs is the perfect place for shock and awe."

He added, "When we were in rehearsal, we were like, 'OK, if you touch me with your foam finger all over my crotch, obviously a few people are gonna have something to say about this.' But that was the whole point," he explained. "The whole point was to excite and to provoke."

As for the backlash that it was over sexual? Not according to Thicke. "I didn't feel anything sexual about the performance," he scoffed. "I thought it was silly and funny; she was being humorous and naughty, but it wasn't sexually charged at all ... that's just who she is, and that's how she likes to dance. She was just being herself and I was just being myself."