Caitlyn, 65, made her sensational debut as a woman earlier this year, after formerly being known as Bruce.
Now Kim, 34, has revealed Caitlyn's journey has helped her to judge people less.
Speaking at the Commonwealth Club, she said: "Sometimes I think it's about Caitlyn, but it's the family around.
"We go to group therapy together. Caitlyn has taught me to be less judgemental. I'm just so happy that people have been open to this change."
Kim added that Caitlyn, who was married to her mother Kris for 25 years, has been overwhelmed by the support she's received.
"People have been so amazing and Caitlyn appreciates this so much. We showed everyone in the show because everyone has a different emotion, transition of their own," Kim said.
In April Caitlyn gave an interview as Bruce, during which she confirmed she was living as a woman.
At the time she admitted that Kim had been the most accepting of all the family, helped along by husband Kanye West.