Princess EugenieandPrincess Beatricehave found their royal footing.

AsQueen Elizabeth‘s granddaughters, the sisters have been in the spotlight since their births — and the public didn’t always treat them kindly. They were mocked for their style choices — most famously theirwhimsical fascinatorsat Kate Middleton andPrince William‘s 2011 royal wedding — and ridiculed for balancing their royal duties with their everyday careers. (Eugenie is an art gallery director in London, while Beatrice is vice president of a data and software firm in New York City.)

“Being role models has always been a hard one for them to deal with, and being criticized for their weight, fashion and work lives has always been hard for them to swallow,” an insider tells PEOPLE in this week’s issue. “But in the last couple of years both girls have come around to the fact they’re women now, and they can do a lot of good with their status.”

Princess Beatrice and Princess Eugenie.Mark Cuthbert/UK Press via Getty Images

Princess Eugenie and Princess Beatrice

Despite glamorous appearances at events like Trooping the Colour and Royal Ascot, the royal sisters want to make the most of their unique positions while maintaining normal lives.

“Yes, their grandmother is Queen, and they ride in carriages and live in this bubble,” a friend says of the princesses. “But they’re human beings who want to fall in love, have a good time, make a difference and just live.”

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Princess Beatrice, Princess Andrew, Sarah Ferguson and Princess Eugenie.

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Princess Beatrice, 30, has a new love of her own: boyfriendEdoardo Mapelli Mozzi. The couple have recently been spending a lot of time with Beatrice’s parents, even supporting an event forPrince Andrew‘sPitch@Palace campaign.

Beatrice focuses the majority of her charitable work around children’s welfare and education, with a particular interest in organizations involved in learning difficulties due to her own dyslexia.

“They are independent, working women but are also aware of their position and where they can help,” says the family friend.

Princess Eugenie and Princess Beatrice.Dave Benett/Getty

Princess Eugenie

The girls’ mother, Sarah Ferguson, previously told PEOPLE that she couldn’t be more proud of her children.

“Their actions show their commitment and dedication to their grandmother and this country,” Fergie said. “It’s so great to see them shining.”

source: people.com