Lucy, who joined MIC in its fourth series, spoke at the launch event for NBCUniversal International's next generation all-reality subscription video-on-demand service, hayu.
She's had her fair share of romance and arguments on the show, but Lucy said you need to have a thick skin and move on, otherwise you'll "need therapy".
"We started the show in our early 20s so you learn a lot about yourself and about life as well," she told Ashley Roberts and host Laura Whitmore at the launch. "You have to learn from your mistakes. You have to get over things quickly because if you don't you'll need therapy."
During her time on the reality show, which focuses on the lives and loves of socially elite 20-somethings, Lucy had romances with Spencer Matthews, Alex Mytton, Oliver Proudlock and Jamie Laing, and had fall outs with the likes of Sam Thompson, Rosie Fortescue and Josh Shepherd.
Now happily loved-up with co-star boyfriend James Dunmore, Lucy said the public perception of her has changed a lot in the last three years. We mean, who could forget that time she said, "Why is everyone getting up in my grill?"
Lucy explained: "I've changed so much - for the better hopefully! I think I was probably one of the most hated people in the UK when I first joined. It was just a lot at once, but I have grown up.
"I was 21 when I joined and I went through a bit of a bratty stage, and people see it and they live through it with you. They see your changes and why you make these changes, so it's pretty cool."
Talking about her romance in 2013 with lothario Spencer, which ended after he admitted to cheating on her, Lucy continued: "I feel like I learnt a really good lesson."
Lucy dated Spencer following his messy split from Louise Thompson, and she said at the time she fell for his charms.
"He's so manipulative - sorry Spencer! He convinced me that Louise was crazy and I believed him, so I learnt about manipulation."
And speaking about her lows on the show, Lucy added: "We're okay with the fact that the really sh*t times we go through make people feel better about their lives!"
hayu launches in the UK and Ireland on 1 March. The service will offer more than 3000 episodes of top reality shows, with the majority of US shows debuting on the same day as their US launch.
It will feature shows including Keeping Up with the Kardashians, Made in Chelsea, The Real Housewives and RuPaul's Drag Race.
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Relive that "up in my grill" scene here: