King of the Jungle! Shirtless Nyle DiMarco Wows as Tarzan on Dancing with the Stars

04/11/2016 AT 09:10 PM EDT

Meet the new king of the jungle!

A scanatily clad Nyle DiMarco sent the crowd (and the judges) into a frenzy on Monday's Dancing with the Stars, which saw him and pro Peta Murgatroyd perform a Samba in honor of Disney's Tarzan.

"I'm getting used to it," DiMarco told PEOPLE after the show of getting used to baring his chest on the show. "With modeling, I'm used to taking my shirt off."

And the judges are getting used to praising him.

"The lord of the jungle is now the lord of the dance. You are perfectly undressed for the occasion, and one thing is for sure, we won the Emmy for best supporting loin cloth," raved judge Bruno Tonioli.

Len Goodman joked of DiMarco's ripped physique: "I look at your body and we are so much alike."

Carrie Ann Inaba praised his back handspring early in the performance. The judges ultimately awarded him 34 out of 40.

In his exclusive PEOPLE vlog, DiMarco explained the importance of Tarzan as he grew up in a deaf family.

"Tarzan, growing up, had a different culture. And Tarzan knew and was very aware of his own culture until other people came in and actually told him that he needed to change," said DiMarco. "Tarzan was upset about this but what Tarzan actually did – he took a look at their culture and understood what they had to offer, but he knew that his was different and he he wanted to go back to his own culture, which correlates with how I was raised."

Season 22 of Dancing with the Stars airs Mondays (8 p.m. ET) on ABC.

For more on the Nyle DiMarco Foundation, visit
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