Charles Esten paid a moving tribute to his former co-star Cameron Boyce, who died unexpectedly on Saturday (July 6) at the age of 20.

Esten played the role of Morgan Ross on the Disney Channel TV series Jessie that aired from 2011-2015, on which Boyce portrayed his son, Luke Ross. Esten turned to Twitter in the early morning hours on Sunday (July 7) to share his sadness over the devastating news, detailing the personal relationship he established with Boyce before they became on-screen cast mates, remarking on Boyce's "endless talent, kindness and joy for living."

"My family and I are devastated today, by the loss of our young and amazing friend, Cameron Boyce," he begins in a series of tweets, reflecting on when he met Boyce as an elementary school student when he attended the same school as his children.

"It was there we were introduced to his endless talent, kindness, and joy for living. At his very 1st talent show, little Cameron’s dancing lit up the stage, and left everyone on their feet, cheering. It was clear to all that he was destined to be the star he would soon become," Esten continues. "And yet, Cameron never carried himself with anything but kindness, humility, effortless grace, and great humor. Even as his star ascended with Jessie, and he began to receive the type of fame that can change people, I never saw that change. Not even a little."

The Nashville star concluded his heartfelt tweets by sending condolences to Boyce's fellow Jessie co-stars and his family.

"Your Cameron was a blessing to us, as he was to so many others in this world. May you feel the breadth of love being poured out for him today, and may God comfort you as you mourn," he writes. "Rest In Peace, Cameron. You will be dearly remembered, my friend, and you will be greatly missed."

In addition to Jessie, Boyce was also known for his roles in Grown Ups, Mirrors and TV film series the Descendants. A representative from the Boyce family confirmed Cameron's passing, citing an "ongoing medical condition" as the cause of a seizure that claimed his life while he was asleep.

"The world is now undoubtedly without one of its brightest lights, but his spirit will live on through the kindness and compassion of all who knew and loved him,” his family shared in a statement.

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