The girl group made their return on The X Factor: Celebrity in November after 10 years apart, but many were shocked by their revealing outfits and provocative choreography.
TV watchdog also received 400 complaints in 48 hours over the performance.
Now addressing the controversy, Nicole told the Herald Sun (£): “We’re not trying to upset anybody. Our true fans know our intention.
“Our real fans know we’re empowering and we come from a place of strength as singers and dancers.”
During their X Factor performance, the Pussycat Dolls performed classic hits like Buttons, Don’t Cha and When I Grow Up, as well as debuting new single, React, which is the band’s first new music since their release of their Doll Domination 2.0 album in 2009.
Nicole and fellow bandmates Carmit Bachar, Ashley Roberts, Jessica Sutta and Kimberly Wyatt announced they were reforming last year, confirming the would also be touring arenas in 2020.
However, they were not joined by former member Melody Thornton, who has decided to sit out the reunion.
She previously admitted she did not see the point in returning to the band as Nicole was given all the lead vocals.
Speaking prior to the reunion announcement, Melody told Chart TV: “I’m primarily a vocalist, and getting into that group and Nicole had been signed [by a label] twice, so it only made sense for her to sing the majority of the leads.
“But them, I kept being asked to wait my turn, and then my turn just never came, and we only released two albums.
“I’m actually a really bad dancer. I’m a singer. So for me, there’s really nothing to go back to. Because the songs that we have are the songs that we have, you know?”
In the interview with the Herald Sun, Nicole said she wishes Melody “all the best”, before adding: “Melody has other projects going on in her life.”