Matthew Broderick Pays Tribute to Lion King Costar James Earl Jones: ‘My Father, My King!’ (Exclusive)

Matthew Broderick had just as strong of a relationship 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 follow-up The Lion King II: Simba’s Pride, exclusively spoke to PEOPLE after Jones' death Monday, Sept. 9, at the age of 93.

"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," he tells PEOPLE. "I'd cross paths with him from time to time over the years and I was always so thrilled to see him."

The actor, 62, recalls Jones being "so open" and having a "broad grin, lots of laughter and genuine curiosity about others."

"He was a great listener," says Broderick. "Far different from what you might imagine from that austere, kingly, beautiful voice. His brilliant, frightening, heartbreaking performance in Fences might be my favorite but there really are so many great performances in that long, magnificent career it’s impossible to choose a favorite."

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

The groundbreaking Lion King film was directed by Roger Allers and Rob Minkoff, who says 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’m certain his powerful voice will continue rumbling through our living rooms keeping his spirit alive for years to come," says Minkoff in an exclusive statement to PEOPLE. "He lives in all of us."

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

In addition to Mufasa, Jones is remembered for voicing Star Wars‘ Darth Vader, which Disney CEO Bob Iger said in a statement are "some of the greatest characters in cinema history."

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"A celebrated stage actor with nearly 200 film and television credits to his name, the stories he brought to life with a uniquely commanding presence and a true richness of spirit have left an indelible mark 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."