The 39-year-old Duke of Cambridge has also hinted that in the future, it may not be the British royal family that leads the 54-member Commonwealth, as a political partnership with former colonies develops.
The outspoken, unusual comments, which appeared on the front pages of several British newspapers on Sunday, came after a tumultuous tour of three Caribbean countries this week, which sparked protests and criticism.
William and his wife Catherine, 40, faced apologies for the slave trade that helped make British royal fortunes, among other issues.
They were also forced to deal with questions from some of the former colonies, who took Barbados as an example.
Barbados officially declared itself a republic in November of last year.
Belize, Jamaica and the Bahamas – the areas covered by the royal tour – are said to be considering this issue.
Jamaican Prime Minister Andrew Holness William told television cameras that the nation was “progressing” as an independent nation.
“I know this tour has raised acute questions about the past and future (of former colonies),” the Duke of Cambridge said in a statement at the end of the tour on Saturday.
“In Belize, Jamaica and the Bahamas, that future is up to the people to decide,” he added, noting that he and his wife were “committed to serving” and that meant “not telling people what to do,” but rather “serving” and supporting them.