Former first lady Michelle Obama said her two daughters, Malia and Sasha Obama, are “thriving” post-White House and said she will always love a trio of former first children for helping her daughters.

“Let me just say this out loud in public: I am so proud of those little girls,” Obama said of Malia and Sasha in an exclusive interview Tuesday with “Good Morning America” anchor Robin Roberts. “They have managed this situation with poise and grace and they are normal and kind and smart and friendly and open.”

Sasha, 17, will graduate from high school in Washington, D.C., this spring, and Malia, 20, is a sophomore at Harvard.

President Barack Obama with first lady Michelle Obama and their daughters Malia, right, and Sasha, left, walk on the tarmac to board Air Force One at Air Station Cape Cod in Mass., Sunday, Aug. 21, 2016.(Manuel Balce Ceneta/AP) President Barack Obama with first lady Michelle Obama and their daughters Malia, right, and Sasha, left, walk on the tarmac to board Air Force One at Air Station Cape Cod in Mass., Sunday, Aug. 21, 2016.

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“They are great. They are thriving,” Obama said of her daughters.

Malia and Sasha were just little girls living in Chicago in 2008, when their father, Barack Obama, was elected president. They moved to the White House and went through middle school and high school under the scrutiny of being first children.

First lady Michelle Obama walks with daughters Sasha and Malia at the annual White House Easter Egg Roll in Washington, April 9, 2012.(Christy Bowe/Corbis via Getty Images) First lady Michelle Obama walks with daughters Sasha and Malia at the annual White House Easter Egg Roll in Washington, April 9, 2012.

Obama credited Jenna Bush Hager, Barbara Bush and Chelsea Clinton with helping Malia and Sasha through their White House years.

“I love those girls,” she said of the Bush sisters and Clinton. “I will love them forever for what kind of support they provided to my daughters throughout that.”

Chelsea Clinton, at the Hay Festival on June 2, 2018 in Hay-on-Wye, Wales.(David Levenson/Getty Images) Chelsea Clinton, at the Hay Festival on June 2, 2018 in Hay-on-Wye, Wales.

Bush Hager and Bush, who turn 37 later this month, welcomed Malia and Sasha to the White House in 2009 with a letter that gave them advice like finding loyal friends, sliding down the banister of the White House solarium for fun and taking part in every White House engagement and trip they could.

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When Malia and Obama left the White House in 2016, the Bush sisters wrote them another letter welcoming them into what they called the "rarified club" of former first children, describing it as a club with membership that Malia and Sasha didn’t seek and "one with no guidelines."

Jenna Bush Hager and Barbara Bush attend an event during New York Fashion Week, Sept. 10, 2018 in New York.(Andrew Toth/Getty Images) Jenna Bush Hager and Barbara Bush attend an event during New York Fashion Week, Sept. 10, 2018 in New York.

"We have watched you grow from girls to impressive young women with grace and ease," they wrote.

Obama, whose memoir, "Becoming," was released Tuesday, thanked the Bush sisters and Clinton for not only personally sharing advice with Malia and Sasha, but also defending them publicly, even after the Obamas left the White House.

"They always had their backs," she said. "[If] somebody went after them in the press, Jenna would get in there and say something. Chelsea would send a tweet out."

"That made a big, big difference," Obama said.

Former first lady Michelle Obama speaks out in an exclusive live interview with ABC News' Robin Roberts in Chicago about her memoir, "Becoming."(ABC News) Former first lady Michelle Obama speaks out in an exclusive live interview with ABC News' Robin Roberts in Chicago about her memoir, "Becoming."