Crediting the legendary host as a best friend and mentor, grieving Griffin says her initial reaction to taking over the Fashion Police helm was an "absolute no".
"I just said, 'look I'm mourning my friend and I, you know, she took the red carpet to another level and she coined the phrase, 'who are you wearing'", says Griffin.
Overwhelmed by the gulf between what she does and Joan's legendary red carpet fashion presence - she was on the show from the offset in 2002 - the actress was torn by the decision.
However, the turning point for Griffin was when Rivers' daughter Melissa, 47, got in touch to give her blessing.
"She said 'I truly feel you are the only person my mom would bless for this throne'."
"I get it, she left a throne. I am actually quite gratified that posthumously she's getting the respect that she maybe didn't get when she was alive," says Griffin.
The flame haired funny woman will now join panelists Giuliana Rancic, Kelly Osbourne and fellow newcomer, stylist and former reality star Brad Goreski on the network's popular show, which critiques Hollywood's fashion hits and misses.
The My Life On The D-List previously revealed to PEOPLE that she and Rivers had joked about her joining the show while she was alive.
• Read more: Kathy Griffin slams Lorde in Fashion Police debut
"Ironically, she and I talked about it many times," Griffin said. "She would joke that, no matter what, I should always get 10 percent less than she got."
Talking of her own fashion prowess the fearless talent said: "I have been a fashion 'don't' for years!"
"I used to actually laminate my 'What Was She Thinking?' pictures and put them on my refrigerator, but they then covered the entire wall. I am not afraid to be a 'do' or a 'don't.' We'll see what happens."
The sharp witted American paid tribute to her late friend during her inaugural appearance as E! Fashion Police's new host last week.
In her new role filling the comedy legend's heels, she began: "Before I start making more enemies and burning new bridges, I want to thank my good friend. Joan, I know you are watching from heaven, but I am not afraid to bring the hammer down on anyone."
And that she did - as the comedienne skewered Hollywood's A-list, taking particular aim at Amal Clooney's white gloves, but praised the flesh-baring ensemble from Jennifer Lopez on her debut Monday.
The 54-year-old redhead told viewers: "We have a new set, new faces, but our mission remains the same."
George Kotsiopoulos has not returned to the program.
- Daily Mail