Matthew Broderick had as strong a bond with James Earl Jones as the characters they voiced on screen.

Broderick, who played Simba, the son of Jones’ Mufasa in the beloved 1994 animated film The Lion King and its 1998 sequel The Lion King II: Simba’s Pridespoke exclusively to PEOPLE following Jones’ death on Monday, September 9, at the age of 93.

“I’m so happy that I had the opportunity to work with James Earl Jones. That he played my father, my king! And that I got to know him a little bit,” he tells PEOPLE. “I ran into him every now and then over the years and I was always so happy to see him.”

The 62-year-old actor recalls Jones being “so open” and having “a big grin, lots of laughter and genuine curiosity about others.”

“He was a great listener,” Broderick says. “Very different than you would think from that austere, regal, beautiful voice. His brilliant, terrifying, heartbreaking performance in Fences might be my favorite, but there are so many great achievements in that long, magnificent career that it’s impossible to pick a favorite.”

“One of the very best of his generation, or any generation,” he adds. “A great American actor.”

The groundbreaking Lion King The film was directed by Roger Allers and Rob Minkoff, who say Jones “left an indelible mark on the worlds of theater, film and animation.”

“His portrayal of Mufasa was absolute perfection, teaching a generation what fatherhood is all about. I know his powerful voice will continue to resonate in our living rooms for years to come, keeping his spirit alive,” Minkoff tells PEOPLE in an exclusive statement. “He lives in all of us.”

Jim Cummings, who voiced Ed the hyena, also paid tribute to Jones, sharing a photo of him in an Instagram Stories post and a clip of some of the voice actors in a recording booth.

Besides Mufasa, Jones is remembered for voicing Star Wars“Darth Vader,” Disney CEO Bob Iger said in a statement, “is among the greatest characters in cinematic history.”

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“A celebrated actor with nearly 200 film and television credits to his name, the stories he brought to life with a unique, commanding presence and true wealth of spirit have left an indelible impression on generations of audiences,” his statement continued. “On behalf of all of us at Disney, we extend our deepest condolences to his family and loved ones.”