"The Robertson family really believes strongly that if the human race loved each other and they loved God, we would just be better off," the reality star tells the January issue of GQ (on newsstands Dec. 24). "We ought to just be repentant, turn to God and let's get on with it, and everything will turn around."
He continues, "Everything is blurred on what's right and what's wrong ... Sin becomes fine."
The outspoken duck-hunting clan offers their own Christmas message in the issue, with patriarch Phil telling it like it is about his family's beliefs.
"We're Bible-thumpers who just happened to end up on television," the 67-year-old explains. "Which ain't gonna last forever."
But Robertson also touches on a life-changing incident from his past. During the 1970s, Robertson fled Arkansas after he badly beat up a bar owner and his wife. Robertson's wife, Kay, persuaded the couple not to press charges in exchange for most of the Robertsons' life savings. "I just put it behind me," Robertson says of the ordeal.
With his past behind him, Robertson considers himself born again.
"We never, ever judge someone on who's going to heaven, hell. That's the Almighty's job," Robertson says. " We just love 'em, give 'em the good news about Jesus – whether they're homosexuals, drunks, terrorists. We let God sort 'em out later, you see what I'm saying?"
Among his comments in the interview, Robertson used stereotypes to describe certain groups and likened homosexuality to bestiality.
GLAAD spokesperson Wilson Cruz, in a statement posted on the organization's website, said: "Phil and his family claim to be Christian, but Phil's lies about an entire community fly in the face of what true Christians believe. He clearly knows nothing about gay people or the majority of Louisianans – and Americans – who support legal recognition for loving and committed gay and lesbian couples."
In a statement to PEOPLE, Robertson says: "I myself am a product of the '60s; I centered my life around sex, drugs, and rock and roll until I hit rock bottom and accepted Jesus as my Savior. My mission today is to go forth and tell people about why I follow Christ and also what the Bible teaches, and part of that teaching is that women and men are meant to be together. However, I would never treat anyone with disrespect just because they are different from me. We are all created by the Almighty and like Him, I love all of humanity. We would all be better off if we loved God and loved each other."
A&E, which airs Duck Dynasty, tells PEOPLE the network will not comment on Robertson's interview. The show will air as planned in January.