"[Tyra] is so supportive. She is the queen," Ora tells ET. "This was never filling anyone's shoes -- this was a taking her legacy and really making it our own with a new panel."
The "How We Do" singer adds that Banks will continue her involvement, saying, "She is still the executive producer and actually makes a cameo in the beginning of the episode."
As for her experience hosting the competitive reality show, Ora admits that she "fell in love with the girls." "I wanted to really find a superstar. I think we all do -- somebody that can really compete in this industry in the world we live in and with social media, just being a superstar in all boundaries."
Fellow ANTM judge Ashley Graham added that Banks has been a positive driving force in the new era of the series. "She and I text a lot," the 28-year-old model admits to ET. "She sends encouraging voice memos, and I save them all. She really is an uplifting woman."
Graham says that when it comes to judging, she lands in the middle -- not too harsh and not too soft.
"I've gotten a lot of criticism in the modeling world," she explains. "I've been told I'm too fat, I'm not good enough and that I'm never gonna be a cover girl. Those are things I never want to tell anybody because everybody has a chance."