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Planet of the Apes takes place 100 years after the final film in the series, Battle for the Planet of the Apes, and continues themes presented there.
"In the monthly series, we're trying to stay pretty true to the films," writer Charles Marshall details, "and we're trying to expand on many of the elements from them. Battle for the Planet of the Apes seemed to be the one with the most elements left hanging, so I chose to follow those because the characters were probably the most interesting. But because of the nature of the license for this property, we couldn't use the actual characters [from the movies], so we bumped it up a few years and used their offspring. For instance, with Caesar, we brought in his grandson. Most of the characters have some tie back to the movies in one way or another. We're really trying to keep the elements that made the films so unique while updating Apes for today's comics audience."
Taken from a article by Edward Gross in Comics Scene #13 (June 1990)