The second in line to the throne has been recently referred to by some newspapers as "workshy William" and "reluctant royal" for not clocking up a large number of royal events.
"To be honest, I'm going to get plenty of criticism over my lifetime and it's something that I don't completely ignore, but it's not something I take completely to heart... I take duty very seriously. I take my responsibilities very seriously.
He said both his father, Prince Charles, and grandmother fully supported the fact that he was not yet fully engaged with royal duties, but that when the time came to accept more responsibilities he would be the first person to take them on.
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"I'm concentrating very much on my role as a father - I'm a new father and I take my duties and my responsibilities to my family very seriously and I want to bring my children up as good people with the idea of service and duty to others as very important. But if I can't give my time to my children as well, I worry about their future, he said.
"Plus... I find the air ambulance role very important to me; it's serving the community, working alongside extremely good professionals in the medical profession. And when the Queen decides she's going to hand down more responsibilities, I'll be the first person to accept them," he added.
"She's been a very strong female influence and having lost my mother at a young age, it's been particularly important to me that I've had somebody like the Queen to look up to and who's been there and who has understood some of the more, um, complex issues when you lose a loved one... So she's been incredibly supportive and I've really appreciated her guidance," he said.
To give a more personal insight to the Queen as a grandmother, he also recalled the first time he got scolded by the monarch for chasing a cousin into a lamppost while riding a quad bike at Balmoral Castle in Scotland.