Robert Irwin has spoken about how his late father, Steve Irwin, might have reacted to his performance on Dancing with the Stars.

In an exclusive interview with PEOPLE at DWTS on Tuesday, Sept. 23, the environmentalist, 21, says he “wishes” his father, Steve, was “here to watch” him compete on the program, and he feels Steve would have enjoyed seeing him perform.

“I’m doing this and doing what I do in life to make him proud,” Robert says of his late father, who died in 2006. He also says that his father would have been “stoked” to see him on the show.

“Dad was the type of person who gave his all in everything he did and owned. And you need to gain this experience. You must exhibit every side of yourself. “You’ve got to put every fiber of your energy into this, and you’ll get it all back,” he says.

Robert describes his experience thus far on DWTS as “amazing.”

“You experience a sense of effortless accomplishment,” he says.

On the episode, Robert highlighted his father’s legacy and how it continues to influence followers today.

“There isn’t a day that goes by when someone isn’t sharing how Dad inspired them,” Robert told me. “It means everything to me, because every year I live, I actually feel closer to my dad.”

Robert delighted the judges with his tango dance, which he performed with partner Witney Carson.

Judge Bruno Tonioli stated Robert was in “leading man mode,” while fellow judge Carrie Ann Inaba commented, “This level of competition is insane.” Robert’s charm is unparalleled.

Meanwhile, Derek Hough characterized Robert’s performance in a single word. “Crikey,” he responded, echoing Robert’s father Steve’s famous remark.

Robert tells PEOPLE His experience on the program has been “surreal,” and he says, “I’m just happy I get to be in this room and do this with Witney.”

“It’s an honor, but we’re here to spread optimism. We want to inspire joy, laughter, and enthusiasm. ” She’s simply the best, and we’re a fantastic team,” he says.