10/09/2013 at 09:20 AM EDT
When it comes to twerking, Robin Thicke maintains his innocence.
"That's all on her," Thicke, 36, says, referring to Miley Cyrus
, 20, and their buzzed-about MTV Video Music Awards
performance of his song "Blurred Lines."
"People ask me, 'Do you twerk?' I'm like, 'Listen, I'm the twerkee. I'm twerked upon," he explains on Sunday's episode of Oprah's Next Chapter
(9 p.m. on OWN: Oprah Winfrey Network). "I don't twerk myself, okay? I'm just twerked upon.' "
Calling all of the post-performance hype "funny" and "silly," Thicke explains, "I was on stage. I didn't see it. So to me, I'm walking out towards Miley [and] I'm not thinking sex. I'm thinking fun, you know? I mean her and I don't have that kind of – You have to remember, I'm singing my butt off. I'm sitting there. I'm looking up at the sky, and I'm not really paying attention to all that."
Cyrus has spoken at length about the risqué routine that involved a foam finger, lots of gyrating and very little clothing.
"Me and Robin the whole time said, 'You know we're about to make history right now,' " Cyrus, said after the performance
. "What's amazing is, I think, now, we're three days later and people are still talking about it. They're overthinking 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."