The former Playboy model - who will give birth to her and husband Hank Baskett's second child, a girl, next month - thinks the 'We Can't Stop' singer is a little ''crazy'' but insists the singer is just being herself and these are values she hopes to instill in her daughter.
Kendra told E! News: ''She's a very good example. As much as we think she's crazy, I think she's a good example. Let's not be so trapped in a box. I'm going to teach my daughter that way - be who you want to be. Society's going to put these rules on you but if you have this feeling that you need to do whatever it is, do it.''
Miley has openly spoken about her use of party drug ecstasy, and love of marijuana but Kendra - who also has a four-year-old son, Hank Jr., with her spouse - clarified she would never push her unborn daughter to experiment with anything illegal.
She added: ''Now, I'm not saying drugs. I'm not saying that I'm pushing her or inviting her to a bad world. What I'm saying is we're all human. We're all going to go through those stages at one point of our lives. Is it going to be later or is it going to be earlier? Eventually, they will go through it.''
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Pratchett died aged 66 in March 2015.