Cyrus teamed up with the 'Blurred Lines' singer at the awards show last month and caused controversy when she twerked on his crotch and prodded herself with a giant foam finger.
"Me and Robin Thicke the whole time said, 'You know we're about to make history right now'," Cyrus told MTV.
"What's amazing is I think now, we're three days later and people are still talking about it. They're over-thinking it. 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 added.
"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? Madonna's done it. Britney's done it. Every VMAs performance, that's what you're looking for; you're wanting to make history.