"Sesame Street" executive producer Carol-Lynne Parente was taken aback by the amount of complaints the PBS show received after a clip of a cleavage-baring Katy Perry singing "Hot 'N Cold" with Elmo hit the Web.

"We would never produce anything we thought was inappropriate. We were surprised not only by the amount of feedback, but how fast it came in. It was a lot," Parente told George Stephanopoulos on "Good Morning America" Friday -- the day after it was announced "Sesame Street" was pulling the clip from the show.

Katy Perry Video Pulled from 'Sesame Street'

Still, not all the feedback was negative. "It was very split, very different," she says.

They decided to kill the segment because "we have a great interactive relationship with our viewers. They trust 'Sesame Street,' and we take that seriously. Parents' opinions are very important to us," she went on.

Parente said they invited Perry to appear on the show in an attempt to "draw in younger parents that may not have grown up 'Sesame Street…' Strictly for the educational benefit, it enhances education when you co-watch [with your kids]."

Parente says that Perry is "a wonderful musical talent, and we had a great time."

And she'll be back, according to Elmo, who also appeared on "GMA."

After the singer Twittered Friday morning, "Wow, looks like my play date with Elmo has been cut short!", the puppet told Stephanopoulos, "We'll have another one! Elmo loves miss Katy."

Grover also jokingly asked on "GMA" that his outfit was "too revealing."

Jude Law, Jason Bateman and Jennifer Garner are among the stars slated to appear on the show's 41st season, which premieres Monday.