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Now that Bruce Jenner has finally revealed his long-held secret, his family is speaking out to show their support and to promote understanding and awareness of what it means to undergo a gender transition.

“Bruce is the most honest … He has the biggest heart and I’m really happy for him that he is living his life the way he wants to live it and that he has found inner peace and just pure happiness,” said Kim Kardashian West in a taped segment on the Today show on Monday. “That’s what life is about. I don’t know what life would be like if you always felt like you weren’t yourself.”

The reality star, 34, went on to acknowledge that she – and most of the general public – could never truly understand what her stepfather is going through, but, “I don’t even think we have to,” she says. “I think as long as he is happy and he wants to live his life however he wants to live it, that just makes me happy and I support him 100 percent.”

Kardashian West also admitted that learning of Jenner’s intent to transition was a “hard adjustment” and that “there still is an adjustment and there is family therapy. We’re really close … We all really support him.”

“Say what you want about us,” she told Today host Matt Lauer, “but we work out everything as a family and we have the best communication and we are so in sync with each other. … We have each other to go through this experience, and I’m really grateful for that.”

Of the increased attention Jenner, 65, can expect moving forward, Kardashian West said that her stepfather is “ready for the next challenge and ready to help other people that might be going through the same things that he is going through and that’s something that he’s really proud of and something that he is really ready to take on and I’m really proud of him for that.”

Indeed, Jenner is on a “mission” to help people, as a source previously told PEOPLE. “He wants to help make a difference for people struggling with empowerment. And it’s not just about those who are transgender, but those who are bullied or face discrimination, whether it’s racial, sexual, religious, any ‘differences’. He feels very strongly about this.”

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