Prince William has said he wants the monarchy to evolve and for him to carry out his duties with a “smaller r in the royal”.

Speaking at end of a major visit to South Africa where he mixed the informal with traditional elements of the monarchy, the Prince of Wales said he was trying to do things differently.

While in Cape Town, Prince William had talks with South Africa’s president, Cyril Ramaphosa, but also took part in informal events and dressed casually.

Asked about whether he was trying to do royal engagements in a different way, he said: “I can only describe what I’m trying to do and that’s trying to do it differently and I’m trying to do it for my generation.

“I’m doing it with maybe a smaller r in the royal, if you like, that’s maybe a better way of saying it.”

Prince William said his approached focused on “impact philanthropy, collaboration, convening and helping people”.

“I’m also going to throw empathy in there as well, because I really care about what I do. It helps impact people’s lives … and I think we could do with some more empathetic leadership around the world.”

The Prince of Wales has long spoken about fighting homelessness, recently starring in a two-part ITV documentary devoted to the subject.

Earlier this week the prince opened up about what had “probably been the hardest year in my life”, having seen his wife and father, King Charles, being treated for cancer.

While in South Africa he sounded optimistic about possible joint overseas engagements with the Princess of Wales, who was declared cancer-free in September.

“I think hopefully Catherine will be doing a bit more next year, so we’ll have some more trips maybe lined up.”

Catherine attended a Remembrance Day event in London with William on Saturday, in her latest public engagement after going through cancer treatment.

Her last public appearance was in October when she met the bereaved families of three young girls who were murdered at a dance class in north-west England.