Sitting down with PEOPLE to talk about her upcoming book with daughter Chelsea Clinton, Hillary Clinton could hardly contain her thoughts on another topic: how former Vice President Joe Biden interacts with women and girls.

Multiple women have said Biden’s boundary-blurring physical affection toward them over the years, including back touches and kisses on the head, was disrespectful and uncomfortable.

Some of his comments on the campaign trail — such as calling an event moderator who was asking questions about his voting record “lovely” and a “real sweetheart” and telling a teenage girl’s brothers to “keep the guys away” — have also raised eyebrows in a race with multiple women running for president. (By contrast, Sen. Elizabeth Warren tells girls at her events that she is running for president because “that’s what girls do.”)

“For goodness’ sake, I’m sorry, I have to jump in because I’ve heard a little bit about that,” Clinton told PEOPLE in a joint interview with her daughter last week, after they were asked if some female voters would be less than enthusiastic about Biden as the Democratic nominee, given his behavior.

“I mean, I don’t think that the Twitterverse is the American electorate, but there are lots of vocal voices that say all kinds of things,” said Clinton, 71.

She said that Biden, 76, who is a leading contender to challenge President Donald Trump in next year’s election, “is a thoroughly decent human being who has served our country honorably and well for decades.”

“You could take any person who sticks their little head above the parapet and says, ‘I’m going to run for president,’ and find something that … a little annoying habit or other kind of behavior that people are going to pick apart and disagree with,” she continued.

In her view, such debate was a distraction from the larger goal of all Democrats and those who oppose Trump: voting him out of office in 2020.

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If she sounded somewhat dismissive of Biden’s past behavior around women — and she is not alone in defending him; he has female supporters, colleagues and aides who have spoken positively of their own experiences around him — it was because she wanted to focus on the president. (Trump has been accused of sexual assault or misconduct by more than a dozen women; he has adamantly denied their accounts, though he was notoriously recorded bragging about touching women’s genitals.)

“This man must be defeated,” Clinton told PEOPLE. “People who are putting themselves forward, which believe me, is a really difficult process to undergo, should be judged on the totality of their lives and their service.”

“We can pick apart anybody. I mean, that’s a great spectator sport. But this man who’s there in the Oval Office right now poses a clear and present danger to the future of the United States. So get over it,” Clinton said. “Look at the candidates, look at what they’ve accomplished, look at what they have fought for — and vote for anybody to get rid of Donald Trump.”

From left: Hillary Clinton and Joe Biden | Craig Barritt/Getty; Jim Bennett/FilmMagic More

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Clinton also said that, though not “easily or quickly,” she had come to the conclusion that Trump should be impeached. (House Democrats are investigating him after he lobbied Ukraine’s president to investigate Biden and Biden’s family.)