Aaron Pierre, New Voice of Lion King's Mufasa, Previously Said James Earl Jones' Shoes 'Cannot Be Filled' (Exclusive)

Aaron Pierre may be taking on the Mufasa mantle, but he knows there is only one James Earl Jones.

Prior to Jones' death this week at age 93, actor Pierre told PEOPLE in a Aug. 28 interview for his film Rebel Ridge that "the shoes of James Earl Jones cannot be filled, and I wouldn't ever claim to be filling them." Pierre voices the character made famous by Jones in Disney's upcoming prequel Mufasa: The Lion King.

Calling Jones "one of my greatest inspirations," the actor, 30, explained, "His work on the stage, film and television is just outstanding. There's not a word available to my vocabulary to articulate how phenomenal he is as an artist."

Pierre said it was a "massive privilege" to "have the opportunity to, in some small way, contribute to the role of Mufasa that [Jones] created and brought to life."

"I hope [he's] somewhere smiling, saying, 'Good job,' " he added in that interview.

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Set years before the events of the 1994 animated Disney classic The Lion King, the prequel will take viewers through Mufasa's origin story, including his friendships, relationships and pivotal events that led to his eventual reign as king of the Pride Lands.

Asked whether his view of Mufasa changed after voicing the character through the new backstory, Pierre told PEOPLE, "When we meet Mufasa in the 1994 original, we meet him in his ... what might the word be? ... his final form."

"We meet him as this father, as this king, as this leader without knowing all of the trials and tribulations and hardships that he had to endure to get there," he continued. "What's really special about Mufasa: The Lion King is that we get to see his childhood, and we get to see him discovering himself from this adolescent cub to this grown lion. There's something really special about that. It allows the qualities of Mufasa to feel tangible, accessible and within reach."

Pierre said he feels a personal "connection" to the "journey" aspect of Mufasa's story in the film, explaining, "I see a parallel. It's achievable."

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Following the news of Jones' death on Monday, Sept. 9, Pierre posted a throwback photo of the late actor, which he captioned, "Rest in peace King James Earl Jones."

Among Jones' Lion King family who paid tribute to him on Monday was Matthew Broderick, the voice of adult Simba in the original. As he told PEOPLE in an exclusive statement, in part, "I’m so lucky to have had a chance to work with James Earl Jones. To have had him play my father, my king! And to get to know him a little bit."

"One of the very best of his or any generation," added Broderick, 62. "A great American actor.”

Rob Minkoff, who co-directed the 1994 film, also told PEOPLE that Jones' "portrayal of Mufasa was absolute perfection, teaching a generation what fatherhood is all about."

"I’m certain his powerful voice will continue rumbling through our living rooms keeping his spirit alive for years to come," continued Minkoff, 62. "He lives in all of us."

Mufasa: The Lion King is in theaters Dec. 20.