"Happy Birthday Penelope," the SKIMS founder wrote on her Instagram Story. "My precious P. You are so special and sweet and silly and I just love you so much! I love our sleepovers and adventures and just being your auntie! You are the best friend North could ever have!"

Kim and Kourtney's mom Kris Jenner shared several family pics of Penelope on her Instagram. "Happy birthday to my beautiful granddaughter, Penelope!" she wrote. "You are such a bright, smart, talented, creative, kind, sweet, thoughtful, and amazing girl and I'm so so proud of you!!! You are the best granddaughter, daughter, cousin, sister, friend and niece. I love you so much my precious girl and I thank God for you every single day!!!"

The momager added, "I can't wait to watch you grow and to make more cherished memories together. I love you. Lovey xo @kourtneykardash @letthelordbewithyou"

See adorable family pics of Penelope over the years below:

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