Prince Harry says he was "forced to leave" the UK back in 2020 with his family because he felt there was "no possibility to keep them safe when they are on UK soil".
The Duke's lawyers had shared a statement from Harry at a three-day hearing in London over security, saying he wants his children "to feel at home" in his native country.
UK broadcaster ITV reported Harry had said in the statement that he "felt forced" to step back from his royal duties in 2020.
"It was with great sadness to both of us that my wife and I felt forced to step back from this role and leave the country in 2020. The UK is my home. The UK is central to the heritage of my children and a place I want them to feel at home as much as where they live at the moment in the United States.
"That cannot happen if there is no possibility to keep them safe when they are on UK soil. I can't put my wife in danger like that, and given my experiences in life, I'm reluctant to unnecessarily put myself in harm's way too."
In May, Harry lost his legal bid to challenge the British government's refusal to let him pay for his own police protection when he visits the UK.
Harry, King Charles' younger son, was stripped of the police security usually afforded to royal figures after he and his American wife, Meghan Markle, stepped down from their official roles to move to the US.
The High Court in London last year already agreed he should be allowed to challenge the original decision to end his protection. But it rejected his bid for a second court review over the rejection of his offer to pay privately for the highly trained officers.
Since their move to California, Meghan and Harry have only brought their children to the UK once for the Queen's Platinum Jubilee celebrations.
