"I've never spoken about this before, but my grandfather was a trailblazer himself," Lovato said, appropriately enough, while taping a segment for Trailblazers, a Logo TV special airing Thursday (9 p.m. ET) that honors LGBT civil rights pioneers. "He was brave enough to come out in the 1960s, and I feel a lot of my spirit has come from him."
The pop singer, who has overcome many obstacles in her 21 years, discussed her grandfather before introducing the Netflix series Orange Is the New Black, one of the night's honorees.
"He passed away a few years later, and I only wish he could have seen all the progress that has been made," said Lovato. "It's such an honor to be welcomed and embraced by the LGBT community."
Among those embracing Lovato at the taping was Lance Bass.
"I'm soooo happy I got to catch up with the adorable and super sweet @lancebass!!" Lovato wrote alongside a Twitter photo she posted of the two of them.
Among those also being honored on Logo's Trailblazers special are Edie Windsor and Roberta Kaplan, who helped overturn DOMA, and Jason Collins, the first openly gay athlete to compete in any of North America's four major professional sports.
Additionally, the show will feature special appearances by President Bill Clinton, Daniel Radcliffe, PEOPLE's Sexiest Man Alive Adam Levine, Jared Leto, Macklemore and Ryan Lewis, Ed Sheeran and Iggy Azalea.