The actor-turned-preacher came under fire for suggesting in a CNN interview that homosexuality is "detrimental, and ultimately destructive to so many of the foundations of civilisation".
His comments have been condemned by GLAAD and even by his former Growing Pains co-stars Alan Thicke and Tracey Gold.
Cameron has now responded to the media firestorm in a statement to ABC, wherein he denied that his comments were in any way offensive.
"I spoke as honestly as I could [in the interview], but some people believe my responses were not loving toward those in the gay community. That is not true," he insisted. "I can assuredly say that it's my life's mission to love all people."
Cameron went on to call for more tolerance for all points of view in the public discourse.
"I should be able to express moral views on social issues, especially those that have been the underpinning of Western civilisation for 2,000 years - without being slandered, accused of hate speech, and told from those who preach 'tolerance' that I need to either bend my beliefs to their moral standards or be silent when I'm in the public square," he commented.
The actor continued: "I believe we need to learn how to debate these things with greater love and respect. I've been encouraged by the support of many friends (including gay friends, incidentally)."
GLAAD representative Herndon Graddick responded to Cameron's latest comments by once again condemning the star.
"Saying that gay people are 'detrimental to civilization' might be 'loving' in Kirk Cameron's mind, but it's gay youth and victims of bullying who truly suffer from adults like Cameron who espouse these ideas," Graddick said.
Cameron previously made controversial comments in 2011, when he claimed to be on a quest to save the US from "financially, morally, [and] spiritually" sinking.
Watch Kirk Cameron on Piers Morgan Tonight below: