Miley is finally speaking about her performance at the 2013 MTV Video Music Awards last week.

After stirring in a hot pot of rumors, criticism and a whole lot of jazz, the "We Can't Stop" singer is finally breaking her silence and tells people what motivated her to twerk her way through the VMA stage.

"Me and Robin [Thicke], the whole time said, 'You know we're about to make history right now,'" Cyrus said in an interview with MTV for a documentary to be aired on the music channel this coming Fall.

During the MTV VMAs last Aug. 25, Miley performed a rather controversial and raunchy version of her song "We Can't Stop" and collaborated with Thicke's hit "Blurred Lines" on stage. Aside from the singer's endless twerking and grinding (on giant bears, her dancers and even Thicke), she was also criticized for using a foam finger inappropriately. Since then, the entertainment world has been buzzing about the performance - fans enjoyed it, while parents and other celebrities rejected it.

However, according to Cyrus, she isn't dwelling on the negatives because for her, she achieved her goal: to make a performance that will be talked about for the years to come. She wanted to deliver a show that will go down to VMA history, and so far she is victorious in this.

"What's amazing is I think now, we're three days later and people are still talking about it. They're over thinking it," she said in the interview. "You're thinking about it more than I thought about it when I did it. Like, I didn't even think about it 'cause that's just me."

As for her haters, she isn't fazed she says.

"I don't pay attention to the negative because I've seen this play out so many times. How many times have we seen this play out in pop music?" she noted, adding "Madonna's done it. Britney's done it. Every VMA performance, that's what you're looking for; you're wanting to make history."