10/10/2013 at 12:00 PM EDT
Kris Jenner says she can't pinpoint exactly what changed between her and Bruce Jenner that led to their separation.
But one thing's for sure, she says: They're not saying goodbye to each other anytime soon.
"I don't think it was the pace of life. We've always gone 150 miles per hour, and Bruce has more energy than anybody," Kris, 57, tells PEOPLE. "I just think it has evolved. I really can't put my finger on it. We're just happier now."
The couple, married since 1991, started getting along better when Bruce began staying in Malibu more over the past year, while Kris stayed in Hidden Hills. Rather than fight that feeling, she says, they eventually embraced it.
"There was definitely a shift in the way we treated each other," Kris says. "We will always be the best of friends, because that's the dynamic of our relationship. We definitely get along as a family and with the kids; we're so connected in that way. We love each other."
Kris says she's relieved she doesn't have to keep it a secret any longer, and echoes what her son, Rob Kardashian
, and Bruce have both said
– that the split couldn't be more amicable.
"It's a very wonderful dynamic. It's just not something that's real negative and nasty," she says. "I love really hard, and the people that I have in my life that I love will always be in my life forever. It's ultimately like one big happy family."
Having their family but also having their space really is "the best of both worlds," Kris adds.
Asked if divorce papers have been drawn up for future use, she replies: "No. No, no, no."