Rio Del Valle Hackford

Helen Mirrenand husbandTaylor Hackfordare speaking out for the first time followingthe death of Taylor’s son and Mirren’s stepson, Rio Hackford.

“His life showed us how to live in generosity and community,” they add. “He shared his life’s journey with so many who now mourn him, and at the same time, celebrate their fortune in knowing him.”

An actor known for roles inThe Mandalorian,TremeandAmerican Crime Story, Rio died Thursday in Huntington Beach, California, his brother Alex Hackford previously toldVariety. He was 51.

“Rio died of uveal melanoma, a very aggressive and rare form of cancer,” Taylor, 77, and Mirren, 76, reveal in their statement. “We would beg everyone reading this to get their eyes tested at least once a year, which might save their loved ones from this cancer.”

Never miss a story — sign up forPEOPLE’s free daily newsletterto stay up-to-date on the best of what PEOPLE has to offer, from juicy celebrity news to compelling human-interest stories.

Josh Homme.Josh Homme

Josh Homme - Rio Tattoo

Among those who sent Mirren and Taylor tributes to Rio were Queens of the Stone Age’sJosh Homme, who also got a tattoo in honor of the late actor.

“Rio just knew things. Esoteric things. Off-the-map things. Secret things. Wonderful things,” says Homme, 48. “He knew these things because of his charm, wit, honesty, character and tough personality. He was a real man in a sea of poseurs.”

“Rio … a titan of kindness, love, class, courage. And cool. A legend,” saysRenée Zellweger.

Vince Vaughn, who starred with Rio in several films includingFred Claus(2007) andSwingers(1996), says he was “as loyal and funny as anyone could be.” Adds Vaughn, 52, “Rio was the best ever. Truly one of a kind.”

Rio Hackford and Helen Mirren.Jason LaVeris/FilmMagic

Rio Hackford and Helen Mirren

Rio’s friend and screenwriter D.V. DeVincentis penned a heartfelt tribute, sharing a black-and-white photo of the late actor. “Rio was more attuned to experience than anyone I’ve ever known,“he wrote in part. “He would stop what was happening to point it out, compel you to pay attention.”

“He would order you a must-have experience from a beloved menu and hold your eye as you paid attention to what was happening in your mouth. ‘Right, Guy? I mean… right?’ " DeVincentis recalled. “He would put an experience for you on the stereo, then start it over and play it again for you because we were talking over it the first time and ‘Pal, you really have to listen to it.’ "

source: people.com