How Malcolm-Jamal Warner Said He Wanted to Be Remembered Before Death

"I remember my mother said to me one time that, 'Mr. Cosby gave you immortality,' so I know on one lane there's legacy there," he shared. "But then, because I've had this full life after that show, there's another lane of legacy that I get to leave."

And while Warner expressed a desire to be celebrated for his work achievements, he also emphasized that he wanted others to learn an important lesson from how he led his life, explaining that he hoped to show people that "with all of the darkness in the world, it is possible to maintain your soul and be a good person."

Warner was swimming in the ocean while on vacation in Costa Rica July 20 when a current pulled him deeper into the water, Costa Rica’s Judicial Investigation Agency confirmed to E! News in a translated statement. He was later rescued by people on the beach, according to the agency, but was "declared lifeless at the scene."

Shortly after, Costa Rican National Police confirmed to ABC News that Warner's official cause of death was asphyxia. He was 54. 

Following the tragic accident, several of Warner's friends and costars honored him with touching tributes that echoed his thoughts on his legacy.

“What an actor and friend you were: warm, gentle, present, kind, thoughtful, deep, funny, elegant," Tracee Ellis Ross, who starred opposite him on Reed Between the Lines, said of the actor in a July 21 Instagram post. "You made the world a brighter place. Sending so much love to your family. I’m so sorry for this unimaginable loss.”

For a closer look back at Warner’s life in photos, keep reading.