The Wrecking Ball hitmaker sparked outrage across the globe at the VMAs with her grinding and twerking routine with the 36-year-old singer during their duet of Blurred Lines during which she also provocatively rubbed herself with a foam finger whilst wearing a latex bikini.
But Miley claims she got up to even more outrageous antics on stage but they were edited out of the TV broadcast of the VMAs.
Speaking to the October issue of Fashion magazine, she said: "I was trying to slap Robin's ass but no one saw it! Believe me! MTV edited so much. They cut almost everything I did. I'm proud of that performance."
The 20-year-old pop star insists she is used to being criticised for her antics, but she doesn't feel the need to compete with her music peers.
Her new song is about Liam
She explained: "When it comes to critics, I have my blinders on and I don't really feel like I have to compete with other pop artists. If there is no competition, there would be no reason for any of us to show up to work. At an office, everyone is trying to be boss.
"Pop music is the same. What I wear adds a factor that other girls can't compete with."
The former Hannah Montana star announced the end of her engagement from Australian actor Liam Hemsworth last week, and has revealed she's written a song based on the pair's turbulent relationship called Drive, hinting that she wanted to end it with him months ago.
She said: "I wrote it while I was working on Valentine's Day - emotionally it was such a hard time.
"It is about needing to leave someone but not really wanting to completely cut yourself off from the relationship. It's a time when you want to leave but you can't. It's also about moving on."
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