Miley Cyrus brought teens from My Friend's Place to tour The Voice set.

By Brianne Tracy
Updated November 01, 2016 11:00 PM

Miley Cyrus treated teens from My Friend’s Place — a Los Angeles-area center that assists homeless youth — to a special day on The Voice set.

The excited group sported Happy Hippie T-shirts as they toured the backstage, took turns sitting in the famous red judge’s seats and watched a taping of the show. They also got a chance to sit down with the Season 11 coach to discuss the importance of music in their lives and the issues that they face as homeless teens.

“On The Voice I’ve heard so many people’s stories now,” says Cyrus in a clip shared exclusively with PEOPLE. “To be able to have the spotlight on people that don’t usually have the spotlight on them is why I’m here and why it’s really important for y’all to be here and to just see who’s on that stage.”

She adds: “Honestly, I want y’all to know there are some stories that are probably not far off from things that you’ve experienced.”

Cyrus visited My Friend’s Place in 2014 and was inspired to launch her Happy Hippie Foundation soon after. The organization works to end injustices facing LGBTQ youth.

“I’ve just been totally inspired by every person that works there that’s encouraging everyone to just be themselves — that’s what Happy Hippie is all about,” explains Cyrus. “We’re pouring, love, happiness and goodness into people.”

This isn’t the first time that Cyrus has put the spotlight on her advocacy work. In 2014, Cyrus asked Jesse Helt, a homeless man in Los Angeles, to accept her MTV VMA “Video of the Year” award for “Wrecking Ball” on her behalf to raise awareness for homeless youth.

“Working with My Friend’s Place and being a part of that gives me purpose,” says Cyrus, before joking: “If I didn’t have My Friend’s Place, what would I be doing besides swinging on wrecking balls all over the place?”

The Voice airs Mondays and Tuesdays at 8 p.m. on NBC.