The former Disney star raised eyebrows at the awards ceremony last month as she Twerked on the 36-year-old's crotch and used a foam finger suggestively as the pair performed his hit 'Blurred Lines'.
Talking for a new MTV documentary following the event, Miley said: "Me and Robin the whole time said, 'You know we're about to make history right now.'
"What's amazing is I think now, we're three days later and people are still talking about it. They're overthinking it," she exclaims.
"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!"
She also said she wanted to follow in the footsteps of previous pop greats, who have shocked with provocative VMA moments.
She added: "I don't pay attention to the negative because I've seen this play out so many times," she says of her many, many detractors, "How many times have we seen this play out in pop music?"
Lady Gaga - who also performed at the VMAs - also recently defended Miley from the criticism.
She told The Sun: "I don't like to pass judgment on Miley Cyrus. Generally, people need to lighten up about pop music - it's about entertainment.
"It [pop music] is here to make you smile and make you happy. Especially in America, there is an excessive dragging of female artists, and I don't want to contribute to that."