The actor, who died Sunday at 54, was best known for his role as Theo Huxtable, the only son of Cliff and Clair Huxtable, who was based on creator Bill Cosby's son.

“The Cosby Show” alum rose to fame in the 80s for his beloved role as Theodore Huxtable, cementing his name in TV royalty. He played the only son of Bill Cosby’s character, Heathcliff Huxtable, in the series from 1984 to 1992.

Bill Cosby, who starred alongside Malcolm-Jamal Warner on "The Cosby Show," reflected on his relationship with the late actor in a new interview.