The tennis stars spoke with PEOPLE about their new joint-podcast, “Stockton Street,” which gives fans a look inside their sibling dynamic on and off the court

Serena Williams and Venus Williams.Credit : Gilbert Flores/Variety via Getty

Serena and Venus Williams are joining forces once again for a new venture nearly a decade since they last won a Grand Slam championship together in the sport that’s shaped their athletic careers — but this time, tennis doesn’t take center court.

The powerhouse siblings are launching a joint-podcast series titled Stockton Street, debuting Wednesday, Sept. 17, and spoke with PEOPLE exclusively about why now was the right time for the sisters to team up.

“We’re so much more than sport,” Serena, 43, tells PEOPLE exclusively when speaking about the inspiration behind the exclusive X Originals series, noting that she and Venus respectively wanted to “do a podcast forever.”

Venus and Serena Williams debut “Stockton Street” podcast on X.Dayne Malan/Nine Two Six

Venus, 45, says, “The timing was very interesting too because I had been thinking about doing a podcast for a couple of years, but for whatever reason, I hadn’t thought about doing it with Serena. It all just came together… We’re at this phase in our life where we want to share our experiences.”

The superstar sisters have been in the spotlight since the late 1990s with Venus reaching her first US Open final in 1997 at age 17, and Serena winning her first US Open two years later, also at age 17 (not to mention, their highly-successful careers in the years that followed with a combined 48 Grand Slams between each of them). However, they know the world doesn’t know them like they think they do.

“A look inside of our relationship” is among the biggest scoops Venus is most excited about sharing with listeners, adding, “We never shared that ever throughout the decades of us playing. You could find nothing really about us [as sisters].”

“So there’s definitely a lot of major revelations is all I can say,” teases the 7-time Grand Slam champ. “There’s a lot of things I realized I didn’t know about her,” she says, admitting, “I thought I knew everything, and I don’t… We’re so the same but also so different.”

Serena and Venus Williams as doubles partners in 2012.Clive Brunskill/Getty

In fact, Serena — who spoke with PEOPLE on a separate call about the podcast one day after Venus’ interview — unknowingly agreed with her sister, noting that “misconceptions” about them are explored within each of the biweekly episodes released on Wednesdays.

Meanwhile, the Michigan-born siblings — who were raised in Compton, Calif. upon relocating with their family as kids, thus the Stockton Street title — admit that they, too, seek to learn more about each other through the podcast.

“One thing I’m really excited about on this journey is discovering Venus,” Serena shares, noting that there are “some elements” that she wasn’t privy to knowing about her amid their on-court rivalries.

“I love her as a sister, but she was still my opponent,” the 23-time Grand Slam champion makes clear. “And it’s bizarre, but having to figure out a very thin line of what to cross and what not to cross.”

In addition to sharing an inside look into their extraordinary lives and unbreakable bond that fueled their rise — plus the pivotal moments that shaped their careers — the dynamic duo tells PEOPLE that they hope to teach, as well.

“We want to give back because we’ve learned so much,” Serena says. “We feel like there’s so much that we’ve learned in our lives and can motivate people… Whether they’re teaching their kids that or whether they’re teaching their students or whatever the case may be.”

Serena Williams and Venus Williams of USA with their trophies after winning the final of the ladies doubles at Wimbledon on July 9, 2016 in London, England.Visionhaus/Corbis via Getty

“It’s our way of mass mentoring because we both love that,” says Venus, who is also an ambassador for Dove as part of the company’s initiative to build body confidence in young female athletes and keep them in the sports they enjoy.

“Really, it’s about sharing,” she continues. “At this stage, I spend a lot of time mentoring. Serena does too, other players especially, and we enjoy that… So, being a teacher and then at the same time having fun while we do it!”

The Williams sister’s podcast, Stockton Street, was titled after a place that hits close to home.

“We just went back and forth and back and forth on names,” says Venus, who named the podcast. “So finally, Stockton Street was where we grew up, and it just perfectly embodied what we want to share.”

“It doesn’t really matter where you’re from. It’s the journey, and it’s where you’re going,” she continues. “That was important to us because our life has been a journey, and our journey started in a place where a lot of people wouldn’t have guessed that we could get to where we were.”

Venus concludes, “It’s all about what you put into your life and then you get the result — so that’s what we want to share.”

Stockton Street will release biweekly episodes on Wednesdays, beginning Sept. 17, featuring unique commentary and guests.