Joe Jonas & Demi Lovato: We're Still Friends

They're no longer a couple, but Joe Jonas and Demi Lovato say they'll remain close.

"Demi and I knew going into our romantic relationship that it may not be an easy one," Jonas, 20, tells PEOPLE. "I realize over the time we have shared together that I feel I care more about our friendship right now. It was my choice to break up but I love her as a friend. She's been there for me when I needed her. I will continue to be her friend and be there for her."