Five years after dad Caitlyn Jenner came out as transgender, Kendall Jenner opened up about how the transition brought them closer together and even gave her more confidence.

“When my dad came out as transgender, our relationship grew,” the model told People Magazine during a recent interview. “She could finally be honest with me. We could talk about deep emotions she was feeling through that time. Growing up my dad was not usually one to talk about her feelings so that was a big step for us.”

The 24-year-old continued, “I used to watch old Olympic videos of my dad and wish I could be a part of those spectacular moments with her. There are so many stories she tells about her life and I love to just sit there and listen. She has lived so many amazing lives in one lifetime. My favorite thing to learn from my dad is about my dad. Inspiring then and inspiring now.”

Kendall also told readers that now, their “relationship grows every day” and as she continues to get older, she aspires “to be as brave as her one day.”

“Because of my dad’s bravery, I’ve learned to love what I love and not be ashamed of it,” she said. “She’s been my role model since before I can even remember, from sports growing up to now with her wisdom.

Sister, Kylie Jenner, also agreed and called Caitlyn their “hero.”

“My dad has always been an inspiration to me, from winning the gold medal at the Olympics to getting her pilot’s license,” the Kylie Cosmetics founder added. “However, watching her live out her true self has been the most inspiring of them all.”

As fans know, the former Olympic athlete officially came out in June 2015, in a Vanity Fair article titled “Call Me Caitlyn.”

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