According to officials, Warner drowned after being caught in a powerful rip current off the coast of Playa Grande in Costa Rica’s Limón province. Despite efforts by bystanders and emergency responders to administer CPR, Warner was pronounced dead at the scene on Sunday, July 20.

As Theo Huxtable, 'Cosby Show' star Malcolm-Jamal Warner got a memorable crash course on growing up in one of the series’ best episodes.

TV One is honoring the life and legacy of Malcolm-Jamal Warner with two special marathons of The Cosby Show, a poignant and powerful tribute to the actor’s unforgettable portrayal of our collective cousin, Theo Huxtable.

Since then, Cosby has stayed out of the public eye, only making the occasional remark, including when his former costar Malcolm-Jamal Warner died on July 20. After Warner drowned in Costa Rica, Cosby's spokesperson Andrew Wyatt told PEOPLE that the actors kept in touch.

Since creating and starring as Dr. Cliff Huxtable on The Cosby Show, the once-beloved and ubiquitous comedian and actor Bill Cosby has seen his public image and career impacted by numerous allegations of sexual assault and abuse, all of which he has consistently denied.

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Detroit author Harriet Cammock watched “The Cosby Show” in her youth and describes Malcolm-Jamal Warner’s death as “like losing one of us.”

Cosby now lives life out of the spotlight and has not returned to acting in Hollywood. He remains married to his wife, Camille, with whom he has welcomed five children since their 1954 wedding. Two of his children — Ennis and Ensa — have since died.