The former host is excited Joan Rivers' daughter is joining the panel

Credit: Dan Steinberg/Invision/AP

Melissa Rivers is stepping into her mother’s shoes on Fashion Police – and Kelly Osbourne couldn’t be happier!

“This is what should have happened from day one,” Osbourne, 30, told PEOPLE at Logo TV’s Trailblazer Honors in New York City on Thursday. “Melissa always should have been there.”

The former Fashion Police host calls Rivers’ move to the pane, “the right decision.”

“When [Melissa] called me to tell me, I was like screaming, jumping up and down because I’m like, continue the legacy!” Osbourne said.

Even with Rivers joining the E! show as an official host, Osbourne says she won’t miss being on the panel.

“I will always, always love, love, love the time I spent working with Joan [Rivers] and George [Kotsiopoulos] and Melissa,” she said. “They’re the most incredible people. They’re still part of my family.”

Notably missing from that statement is Fashion Police host Giuliana Rancic. Osbourne previously told PEOPLE that Rancic’s comments about Zendaya’s dreadlocks were “really heartbreaking”

RELATED VIDEO: Sharon Osbourne Reveals Why Her Daughter Left Fashion Police: ‘Everybody Was Trying to Be Different than What They Were

While she won’t miss being a panelist, Osbourne said she is “forever grateful to E! for giving me the opportunity to work with not only one of my idols, but somebody that became like my grandmother for five and a half years.”

“It was time for me to move on, but it was time for Melissa to take that spot,” she added.

Fashion Police returns Aug. 31 on E!