Prince Harrycandidly explores his fractured relationship with members of his family, including his fatherKing Charles, and brotherPrince Williamin his new memoirSpare.While tensions remain, the Duke of Sussex says he hopes for reconciliation and wants his and wifeMeghan Markle’s children,Archie, 3, andLilibet, 19 months, to have their own meaningful relationship with the royal family.“I’ve said before that I’ve wanted a family, not an institution—so of course, I would love nothing more than for our children to have relationships with members of my family, and they do with some, which brings me great joy,” Harry says inthis week’s exclusive PEOPLE cover story.As for what he wants the royal family’s takeaway to be from his revealing new book, out Tuesday, he says: “I want people to read my memoir and come to their own conclusions—I don’t want to tell anyone what to think of it and that includes my family. This book and its truths are in many ways a continuation of my own mental health journey. It’s a raw account of my life—the good, the bad and everything in between.“Prince Harry.Jenna JonesHarry also opened up about the loss of his beloved grandmotherQueen Elizabeth, who died last September at age 96, and how grateful he is for the time Archie and Lilibet spent with her.For more on PEOPLE’s cover story with Prince Harry, listen below to our daily podcast PEOPLE Every Day.“My grandmother and I were very close, and we very much did have a special relationship. I miss her dearly, as well as her cheeky sense of humor and quick wit,” he says.Prince Harry and Meghan Markle with their children, Princess Lilibet and Prince Archie.Netflix/Youtube"I’m also really happy for her. She lived a full life and is now reunited with her husband,” he continues. “I will forever cherish every memory I had with her, especially the times she spent with my children.“Jenna JonesFor more fromPEOPLE’s exclusive interview with Harry, check out this week’s issue, on newsstands FridayWith an eye to the future as he continues to settle into life as a family of four in California, Harry says, “I’m looking ahead and am optimistic for what’s to come. I have a beautiful and blessed life—one that comes with a platform, and with it responsibility that Meghan and I plan to use wisely.“I feel I am exactly where I am meant to be and exactly where we [my family] are meant to be. I don’t think I could have written this book otherwise.”

Prince Harrycandidly explores his fractured relationship with members of his family, including his fatherKing Charles, and brotherPrince Williamin his new memoirSpare.

While tensions remain, the Duke of Sussex says he hopes for reconciliation and wants his and wifeMeghan Markle’s children,Archie, 3, andLilibet, 19 months, to have their own meaningful relationship with the royal family.

“I’ve said before that I’ve wanted a family, not an institution—so of course, I would love nothing more than for our children to have relationships with members of my family, and they do with some, which brings me great joy,” Harry says inthis week’s exclusive PEOPLE cover story.

As for what he wants the royal family’s takeaway to be from his revealing new book, out Tuesday, he says: “I want people to read my memoir and come to their own conclusions—I don’t want to tell anyone what to think of it and that includes my family. This book and its truths are in many ways a continuation of my own mental health journey. It’s a raw account of my life—the good, the bad and everything in between.”

Prince Harry.Jenna Jones

Prince Harry cover rollout

Harry also opened up about the loss of his beloved grandmotherQueen Elizabeth, who died last September at age 96, and how grateful he is for the time Archie and Lilibet spent with her.

For more on PEOPLE’s cover story with Prince Harry, listen below to our daily podcast PEOPLE Every Day.

“My grandmother and I were very close, and we very much did have a special relationship. I miss her dearly, as well as her cheeky sense of humor and quick wit,” he says.

Prince Harry and Meghan Markle with their children, Princess Lilibet and Prince Archie.Netflix/Youtube

Harry & Meghan | Official Trailer 2 | Netflix

“I’m also really happy for her. She lived a full life and is now reunited with her husband,” he continues. “I will forever cherish every memory I had with her, especially the times she spent with my children.”

Jenna Jones

Prince Harry cover rollout

For more fromPEOPLE’s exclusive interview with Harry, check out this week’s issue, on newsstands Friday

With an eye to the future as he continues to settle into life as a family of four in California, Harry says, “I’m looking ahead and am optimistic for what’s to come. I have a beautiful and blessed life—one that comes with a platform, and with it responsibility that Meghan and I plan to use wisely.

“I feel I am exactly where I am meant to be and exactly where we [my family] are meant to be. I don’t think I could have written this book otherwise.”

source: people.com