The Queen "is much livelier in private than what the public sees," according to PEOPLE Magazine.

Royal biographer Sally Bedell Smith, author of Elizabeth the Queen: The Life of a Modern Monarch, chatted with the publication about who Queen Elizabeth really is behind closed doors.

According to Smith, the Queen isn't afraid to crack a joke or laugh at herself.

PEOPLE says:

"Not long after Prince Charles' 1981 wedding to Princess Diana, a rerun of the ceremony was playing on TV during a party in London that the monarch was attending. Spotting herself on the screen, "The Queen said, 'Oh, there's my Miss Piggy face,' " Bedell Smith recalls. "She has the ability to laugh at herself."

And what about R & R? Well, according to the Queen's close friend and equine adviser Monty Roberts, she spends her downtime with her pet dorgi and horses.

Roberts said:

"She goes into a peaceful mode when she is with horses."