“Genius” Actor Aaron Pierre on Working with Late Costar Ron Cephas Jones: 'I'm Deeply Grateful’ (Exclusive)

"We celebrate and champion him," says the actor who portrays Malcolm X in 'Genius: MLK/X' of the 'This Is Us' Emmy winner, who died Aug. 19

Aaron Pierre doesn’t take it lightly that he worked with Ron Cephas Jones in the late This Is Us Emmy winner's final screen project.

“He engaged with me like a father or an uncle, a teacher,” says the actor behind Malcolm X in National Geographic’s Genius: MLK/X, Jones’ final credited project. Visibly emotional, he adds, “I wasn't expecting that, so bear with me.”

Jones, who died on Aug. 19 of complications from a long-standing pulmonary issue at age 66, played Nation of Islam leader Elijah Muhammad on the anthology series, which airs episodes on Thursdays during Black History Month. “He really took his time with me,” continues Pierre, 29. “Any question I might have had, he took the time to answer and engage with me in any conversation.”

The Underground Railroad star adds that Jones was always open “to just break things down and analyze” both the personal and philosophical sides of the Black separatism activists they were playing. The fourth season of the Genius anthology series — which has previously featured Geoffrey Rush as Albert Einstein, Antonio Banderas as Pablo Picasso and Cynthia Erivo as Aretha Franklin — depicts the interconnected lives of Martin Luther King Jr. (played by Kelvin Harrison Jr.) and Malcolm X.

Related: Genius Star Aaron Pierre on Transforming into Malcolm X: 'StairMaster Every Day for 6 Months' (Exclusive)

Pierre says he learned so much about the craft of acting by watching Jones up close. Particularly in later episodes, when the dynamic between Malcolm X and his mentor sours and the civil rights leader eventually steps down from the Nation of Islam amid nasty accusations, Jones shows a treacherous side which audiences haven’t seen from him before. “It's an outstanding performance,” Pierre tells PEOPLE.

“I felt incredibly safe working with him, I felt protected working with him, I felt supported working with him,” the British actor adds. “And his impact on my life is something I'll never forget and something I'll always treasure. I'm deeply grateful to have had the opportunity to witness his greatness.”

Speaking on behalf of the cast and crew of Genius: MLK/X, including Harrison, Weruche Opia, Jayme Lawson, Gary Carr, Hubert Point-Du Jour and more, Pierre says, “We celebrate and champion him.”

Related: Sterling K. Brown, Mandy Moore, Chrissy Metz and More Pay Tribute to Ron Cephas Jones After His Death

MLK/X spans Malcolm Little’s youth in Nebraska, his burgeoning activism for Black empowerment and separatism while imprisoned, and ultimately, his 1965 assassination at age 39 in New York City.

Lawson, who plays Malcolm X’s wife, Betty Shabazz, described Cephas Jones as “inspirational” in an interview with the U.K.’s PA news agency. “He still had joy and he was still in a place to receive something from us and to teach us,” the actress recalled.

Related: Ron Cephas Jones' Daughter Jasmine Says It's Been a 'Battle' Accepting His Death: 'You Were a Damn Good Father'

Following Jones’ death in August, his daughter Jasmine Cephas Jones and her mother Kim Lesley shared tributes to the beloved actor. His This Is Us costar Sterling K. Brown wrote on Instagram, “The world is a little less bright. Brother, you are loved. And you will be missed.” 

“Getting to know and work with Ron on the wild ride of ‘This Is Us’ was the greatest gift,” Mandy Moore wrote in her own tribute. “He was pure magic as a human and an artist…I will treasure all of the moments forever.”

Pierre, who starred in last year’s Foe opposite Paul Mescal and Saoirse Ronan, will next voice the title character in Barry Jenkins’ animated musical prequel Mufasa: The Lion King (in theaters Dec. 20), alongside his Genius costar Harrison as Taka, a.k.a. Scar.

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Genius: MLK/X airs Thursdays at 9 p.m. ET on National Geographic.

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