Robert Irwin and Witney Carson Reveal Last Words to Each Other Before “Dancing with the Stars” Win (Exclusive)

Robert Irwin and Witney Carson are detailing the pep talk they gave each other before heading home with the Mirrorball Trophy.

After the pair were announced as winners of Dancing with the Stars' 34th season on Tuesday, Nov. 25, the wildlife conservationist revealed to PEOPLE what they discussed before learning of their victory.

"We just said, 'It doesn't matter what happens now,' " Irwin, 21, recalls. "We're so grateful that we're here and we know what we've put in and we know what this represents."

Robert also tells PEOPLE that the win — which arrived exactly 10 years after his 27-year-old sister Bindi won with partner Derek Hough — means “everything to him.”

“To follow in those footsteps and to do the same has meant everything to me,” he says. “This has absolutely changed my life.”

"For Bindi, she was here to represent what our family's all about. Our work at Australia Zoo and Wildlife Warriors, our charity, it's the biggest wildlife hospital in the world," he adds. "It's conservation on the front line. It's about making the world a better place. And when I watched her lift that Mirrorball, I saw her lifting that message."

Robert reiterates that Carson "pours her heart and soul into this, and I'm just so happy that we are here.” Carson, 32, also shares that she couldn't think of "anyone more deserving” than her partner.

“I feel like I've been so proud of you week to week, and just to see you shine has been one of the biggest highlights in my life, and I just am so, so proud of you," Carson adds.

Robert and Carson's victory came after they performed a quickstep to "Are You Gonna Be My Girl" by Jet, a cha cha to "Cake By The Ocean" by DNCE and a freestyle to "Black & Gold" by Sam Sparro and "The Nights" by Avicii.

After their win, Robert got plenty of love from his family on social media. Among the congratulatory posts, His mother Terri Irwin shared a few snaps of herself with Robert and Bindi on Instagram as she toasted her youngest.

"Your passion, dedication, hard work, and kind heart got you to this point. A night you will remember forever," she wrote. "Thank you to everyone who supported Robert through this journey, and made us realize that even a zookeeper can learn to dance. Witney — you are now part of our family. God bless."

Terri added of herself and Robert's late father, Steve Irwin, "I am so very proud of you, Robert. I know your dad is too."