Jeffrey Moustache
October 01, 2015 01:00 PM

Six years after Michael Jackson died, the superstar’s three children – Prince, Paris and Blanket – are coming into their own.

Prince, 18, and Blanket, 13, be making appearances on their cousins’ new reality show The Jacksons: Next Generation (airing Fridays at 10 p.m. EST on Lifetime).

When Michael died in 2009, “we had a meeting with our grandmother letting her know that in whatever way we could, we wanted to be there for the kids,” TJ Jackson, who is a co-guardian along with grandma Katherine Jackson, tells PEOPLE. “When my mother [Dee Dee] passed, he’s the one that helped us cope and adjust to our new life.”

Prince is now off at college “doing his thing and enjoying life, but also learning,” says TJ. “We all push him to do well in school and support his education.”

“It’s still early,” says TJ about Paris and Blanket adjusting to their older brother moving away to college. “They all started school, so all the kids are just adjusting to getting off the summer.”

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In one episode, Blanket joins the family as they embark on a camping trip. Meanwhile, Paris, 17 – who showed off a new red ‘do on Instagram last week – has been spending time with her boyfriend Chester Castellaw and her friends.

“Their father did an amazing job raising them, and they are such precious, beautiful kids,” says TJ. “Their hearts are amazing.”

For more on the Jacksons, pick up the latest issue of PEOPLE, on newsstands Friday

Reporting by PATRICK GOMEZ

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