Many fans were especially disappointed to see Tom go considering he had served as the host of Dancing with the Stars since the series premiered on ABC in 2005 -- a span that covered 28 seasons and over 400 episodes.
Tyra looked back on the big decision she had to make and revealed, "I asked friends and finally, I asked my mom. She was like, 'Girl, I'm the first person that told you about that damn show! I told you to turn on the TV. The stars is dancing,'" according to Us.
"She was the first person to tell me and I turned it on and couldn't look away. And so I said, 'Yeah, I think I can bring something to this.'"
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"Every host messes up. It's just normal, it's live TV," Tyra told the magazine after Dancing with the Stars' September 28 episode.
"If it wasn't live, there would be no mess ups. But even on America's Next Top Model, I would mess up and tell my editors to leave it in. That's what makes things human and makes things alive."
"If I didn't want to mess up, if I wanted to be perfect, I know how to do that," she continued.
"There's a very clear way as a host that you just read the words and you're perfect and you know exactly how to do that. But when you relax and you keep it real, the mess ups happen, and the producer in me knows... it's live and it's real and it's better than being a doll."
Tyra insisted she knows how to "read a prompter perfectly."
"But I also skip around the prompter to make it as real as possible knowing that... [I'm] going to mess up. It's just normal and keeps it real," she explained.