House Majority Whip James Clyburn (D-S.C.) said Sunday he believes President Trump Donald John TrumpBiden on Trump's refusal to commit to peaceful transfer of power: 'What country are we in?' Romney: 'Unthinkable and unacceptable' to not commit to peaceful transition of power Two Louisville police officers shot amid Breonna Taylor grand jury protests MORE will be impeached "at some point" but that Democrats must first build a case for impeachment.

Clyburn, the third-ranking Democrat in House leadership, offered the remarks in an interview with Jake Tapper Jacob (Jake) Paul TapperThe media's misleading use of COVID-19 data Julia Louis-Dreyfus: 'We can't spend much time grieving' Ginsburg Pence aide dismisses concerns rushed vote on Trump nominee will hurt vulnerable senators MORE on CNN's "State of the Union."

When Tapper asked Clyburn if he thought Democrats would launch impeachment proceedings against Trump, he said, "Yes, that's exactly what I feel."

"What [Speaker] Nancy Pelosi Nancy PelosiHoyer: House should vote on COVID-19 aid — with or without a bipartisan deal Ruth Bader Ginsburg lies in repose at Supreme Court McCarthy threatens motion to oust Pelosi if she moves forward with impeachment MORE [D-Calif.] is trying to do, and the rest of us in the House of Representatives, is to develop a process by which we can efficiently move on this issue so that when we get to a vote, it would be something that she calls ironclad, I call effective. And that is why we are trying to take our time and do this right," Clyburn added.

Clyburn said House Democrats are not "particularly interested in the Senate" but rather are waiting to "bring the public along."

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Polls show a majority of voters oppose impeachment, and Pelosi has consistently set a high bar for moving forward, largely because she sees a political risk to it.

But Pelosi and other Democrats have suggested that if there is more public support for impeachment, it could happen. Clyburn echoed that view on Sunday.

"We do believe that if we sufficiently, effectively educate the public, then we will have done our job, and we can move on an impeachment vote," he said.

Clyburn added that special counsel Robert Mueller "has developed the grounds for impeachment."

"The House has to determine the timing for impeachment. There's a big difference," he said.

Pelosi and other Democratic leaders are coming under rising pressure from members of their caucus to move forward with impeachment.