Aaron Erb Says Brother Noah Warned Him, 'Don't Make an Ass of Yourself' Before Going on “The Bachelorette” (Exclusive)

"He's tried to give me advice, but you just got to figure it out on your own," Aaron tells PEOPLE

Aaron Erb is revealing the advice his twin brother Noah — and fellow member of Bachelor Nation — gave him before going on The Bachelorette.

Aaron received major heat from the other contestants on Jenn Tran’s season at the Men Tell Allafter he handed Devin a self-growth book in the middle of an argument in an earlier episode. Talking to PEOPLE, Aaron admits his brother actually gave him that book, along with some guidance he didn’t quite follow.

“I think he said, ‘Don't make an ass of yourself,’” he says with a laugh. “And I was like, ‘I don't know what that means.’ But yeah, he's tried to give me advice, but you just got to figure it out on your own. There really is no advice besides, ‘be yourself.’”

Related: The Bachelorette: Jenn Tran Urges Sam M. to 'Be Better' at Men Tell All: 'You’re a Grown Man'

As for the book, Aaron says he has read it, and it actually holds some “sentimental” value.

“I've read that book a lot,” he explains. “That really started me on my journey of self-discovery. It honestly changed my life. It's a short read — it's something I brought because it has some very easy lessons to learn. I didn't bring a book to intend to give it away.”

Still, he defends his decision to offer it up to Devin, referring to when his brother, Noah, was on the receiving end of a similar situation when he appeared on season 16 of The Bachelorette.

“I feel like it was the right move and put myself in someone else's shoes, [asking myself], ‘How can I care about someone in that moment?’” he says. “So it was funny how much attention it got.”

“Maybe I need to read it again though, honestly,” he adds.

Related: Bachelorette Suitor Takes 'Fault' for Failed Romance with Jenn Tran: 'Couldn't Get Those Feelings Further' (Exclusive)

During the Men Tell All special on Aug. 27, the men called Aaron out for disrespecting Devin by giving him a book about learning emotional intelligence. Even Noah disapproved.

“We were in the womb together, but I don’t think the book’s the move,” Noah said to Aaron. “I don't think anybody should tell somebody that they are or aren't ready. We've all got our own journey.”

Although he was in hot water for a while, joking that he felt like he was “getting my throat stepped on,” Aaron tells PEOPLE it was nice to be back with the group.

“It started off hot and heavy,” he begins. “It's good to see everyone. I think it was therapeutic in a way for everyone just to get it all out there. I don't take anything personally. I know it's all love at the end of the day. But yeah, it definitely got heated, especially when Jenn came out and threw an arrow right at me, which I wasn't ready for.”

On the July 15 episode, Aaron became frustrated with Devin after he pulled Jenn away from a group date for one-on-one time. After confronting Devin with the book, he then told Jenn some of the guys were not there for the right reasons, but wouldn’t name who.

Ultimately, he sent himself home, and later admitted at the tell all that he was referring to Devin, Sam N. and Spencer.

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The Bachelorette season 21 finale airs Tuesday, Sept. 3, at 8 p.m. ET on ABC.

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