Bishop Gene Robinson says in a new interview that he's gay all the time and it affects how he relates to the world.

Robinson, the first openly gay bishop of the Episcopal Church, retired from his post on January 5. He now works on issues of faith and gay rights at the Center for American Progress, a progressive think tank in Washington D.C.

During an appearance on NPR's Fresh Air to pitch his new book God Believes In Love: Straight Talk About Gay Marriage, Robinson discussed his thoughts on Pastor Louie Giglio's withdrawal from President Barack Obama's second inauguration.

Giglio, of the Georgia-based Passion City Church, had been selected to deliver the inaugural benediction but withdrew after reports surfaced that in the mid-1990s he advocated for therapies which claim to “cure” gay people's sexual orientation and called on Christians to prevent the “homosexual lifestyle” from becoming accepted in society.

“I don't know if the reverend has changed his mind but the words that you describe from his sermon are alarming and I don't believe are mainstream words,” Robinson told Terry Gross. “You know, this country has moved greatly on the issue of the acceptance of gay and lesbian, bisexual and transgender people and it's moving more every day. And I don't believe that most Americans would say that it is an aggressive agenda to want equal protection under the law of the constitution.”

On the recent move by the Church of England to allow celibate gay bishops, Robinson said: “Gay is not something we do. It's something we are. I'm not just gay when I'm making love to my husband. I'm gay all the time. I'm gay right this minute talking to you, and it … affects how I relate to the world, how I relate to people.”