To make a manual backup of your chats at any time, go to WhatsApp > Settings > Chats > Chat Backup > Back Up Now. You can also enable automatic, scheduled backups by tapping Auto Backup and then choosing your backup frequency.
This will back up your chats and media to your iCloud account and you can choose to include or exclude videos from the backup. The iCloud backup process can take a while to complete, depending on your Internet connection and backup size.