The men tell their stories in the documentary "Leaving Neverland," which premieres from 8 to 10 p.m. Sunday and Monday on HBO.
The two have detailed the alleged extensive grooming and horrific abuse to CBS's Gayle King in a new interview, saying Jackson taught them how to masturbate, performed oral sex on them and referred to their encounters as his "first".
However, the late singer's estate has confirmed plans to sue the documentary makers, and his brother Jermaine Jackson has emotionally denied all the allegations made on film.
Jackie, 67, said: "I don't have to see the documentary ..." The film's impact comes from its unwavering focus on the two men and their allegations.
When asked about the details of the abuse he claims to have suffered, Safehuck replied: "He taught me to masturbate, like it was this wonderful new thing that's going to change your life".
During the flight, Safechuck says, he pretended to be a reporter, and recorded a mock "interview" with his idol. Its central question is whether Michael Jackson used his fame and money to seduce young boys and their families into enabling a hidden pattern of serial pedophilia.
Howard Weitzman, an attorney for the Jackson estate, told the Journal that the timing of the listing is unrelated to the film.
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"HBO breached its agreement not to disparage Michael Jackson by producing and selling to the public a one-sided marathon of unvetted propaganda to shamelessly exploit an innocent man no longer here to defend himself".
Responding to these claims, Robson and Safechuck said they received no money for taking part in the documentary, with the former adding their roles were about "fighting back". "There's no alarm bells going off in your head or any thoughts like that".
"I was like 'No that can't be Wade Robson not the same guy that I knew, They must have got the names wrong", Taj Jackson said.
"He said I was his "first".
Safechuck and Robson claimed Jackson abused them hundreds of times. Another young boy, James Safechuck, was a Simi Valley kid who did some acting work in commercials - including a 1980s Pepsi commercial in which he meets Jackson in his dressing room.
Their central criticism has been the film's failure to talk to family members or other defenders of Jackson, whom they insist never molested a child.
"The way Michael approached the abuse, the sexual activity with me, was always extremely tender", Robson continued. "I loved Michael and all the times that I testified and the many, many times that I gushed over him publicly in interviews over wherever it may be, that was from a real place, while never forgetting any of the sexual details that happened between us, but having no understanding that it was abuse, and having no concept in my mind that anything about Michael could ever be bad".
Leaving Neverland, directed by Dan Reed, details their stories.