Paul Archuleta/FilmMagic; NBCU Photo Bank/NBCUniversal via Getty Keshia Knight Pulliamis speaking out for the first time about the passing of her friend and former costarMalcolm-Jamal Warner. On Sunday, July 27,TheCosby Showalum, 46, shared an emotionalInstagram postin memory of her "big brother" Warner following histragic deathon July 20. "A week ago I lost my big brother, but I gained an angel…," Knight Pulliam wrote in the caption. "I love you… I miss you… We got our girls, ❤️" referring to Warner's wife anddaughter. Alongside her message, Knight Pulliam posted a clip of Warner playing bass guitar onstage in front of a crowd at the City Winery in Atlanta. In a brief clip that followed, two young girls, who appeared to be the pair's daughters, were seen walking with a horse on a farm. Knight Pulliam added on herInstagram Stories, "Thank you for every text call and all of the love that you have sent my way ... I've just needed a moment... ❤️." View this post on Instagram A post shared by Keshia Knight Pulliam (@keshiaknightpulliam) Warnerdied as a result of asphyxiation by submersionat age 54 on July 21 while swimming on a family vacation in Costa Rica, Costa Rica's Judicial Investigation Agencyconfirmed to PEOPLE. Pulliam and Warner famously played siblings Theo and Rudy Huxtable onThe Cosby Showfrom 1984 to the show's end in 1992 and had remained close friends ever since. Pulliam's tribute to Warner comes after sheappeared on the late actor's podcastNot All Hood NAHjust one month before his death, as the pair discussed their loyal friendship and the close bond their daughters share. "She is more than my friend, she is family. Our bond goes way beyondThe Cosby Show," Warner said on the podcast. "We have both managed to navigate throughthe murky waters of child stardomwith our souls and dignity intact." "He's stuck with me for life," Knight Pulliam joked, referring to Warner as "family." 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 celebrity news to compelling human interest stories. Knight Pulliam and Warner also spoke about recently meeting up with their daughters. "I'm grateful that we have those moments with our families and our kids, andour daughtersadore each other," Knight Pulliam said. "It's so surreal to me that we have this kind of relationship as parents, and we see our next generation have this bond at such a young age," Warner said, noting their daughters were born three months apart. "I'm grateful because I think that one change also created the space for us [to] bring this relationship so current," Knight Pulliam added. Read the original article onPeople