The 20-year-old Keeping Up with the Kardashians star also credits her sisters for teaching her "not to take everything so seriously"

By Natalie Stone
Updated August 11, 2016 09:20 AM
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Mert Alas and Marcus Piggott / Vogue

Five months after Kendall Jenner graced the front of a special edition of Vogue, the model landed the coveted September 2016 cover.

In her cover interview, which hits nationwide newsstands on Aug. 23, the Keeping Up with the Kardashians reality star gets candid on a variation of personal topics, including her modeling career, why she struggled with dad Caitlyn Jenner’s transition, and why she has to find an “escape” on a daily basis.

PEOPLE breaks down five things we learned from 20-year-old Jenner’s cover interview.

1. She Once Thought Her Dad Was Cheating on Kris.

When the model was younger, she and her sister Kylie happened to find their dad’s beauty products. “My whole life we would, like, catch her, and we would be like, What is going on here? I think we know, but do we? At one point Kylie and I thought he was cheating on my mom, because he had makeup and nail polish. One time we found those squishy boob things. We found wigs. And then one time I actually ran into her. In this house. She had no idea.”

2. She Admits Modeling Can Be Lonely.

Though the reality star knew from a young age that she wanted to pursue modeling as a full-time career, she admits that it can be lonely traveling the globe solo. “I don’t think that people understand how lonely it can be,” Jenner says. “All you’re doing is traveling the world by yourself to do a job and then go back to your hotel by yourself. It’s a different life than you imagined.”

3. She Used to Be Jealous of Kylie.

Discussing how her reserved personality impacted her childhood, she confessed, “I remember crying in my bedroom about the fact that Kylie had so many friends and I didn’t.”

4. Cindy Crawford Is Her Role Model.

“This is a career – I want this to last for a long time,” Jenner admits of her chosen profession. “Not that I won’t venture out and do other things, but I want this to be like a Cindy Crawford thing: I want it to last until I am her age. That’s why I love her so much and why I look up to her: Her life now is something that I want my life to be like,” she says of the longtime professional model.

5. “Every Day, I Have to Find a Way to Escape.”

While a large portion of her life is documented on the E! reality show, Jenner reveals that she still has to find moments everyday to “escape” the cameras. “I love dressing down and having my private life,” she says. “Every day, I have to find a way to escape; I have to go borrow someone else’s car. Sometimes it takes me an hour to figure out how to get rid of these guys who have been following me all day. And the second that I feel it getting the better of me, I have to go chill myself out – go take a bath or something to, like, disconnect from it. It keeps you real and sane and humble.”

6. Her Sisters Taught Her “Not to Take Everything So Seriously.”

“People say a lot of what they think, and it’s not always positive. And we never say anything. We just take it,” Jenner reveals of the criticism that she and her family members constantly endure. She credits her four sisters – Kim, Kourtney, Khloé and Kylie – to teaching her not to take the critical commentary to heart. “One of the best lessons I ever learned from my sisters is not to take everything so seriously,” she says. “Just leave it alone – it will pass in a week.”

7. She Credits Driving ATVs and Go-Carts to Being a Good Driver.

Jenner, who drives a 1957 robin’s-egg-blue Corvette Stingray, credits driving ATVs and go-carts as a child to being a good driver. The KUWTK star says, “We had ATVs and go-carts, and I grew up riding them all the time, which is why I’m a good driver,” and adds of learning to drive a stick, “My dad taught me when I was sixteen in her Porsche.”

Keeping Up with the Kardashians airs Sundays (9 p.m. ET) on E!