Will Smith's friend sheds light on their friendship

Alfonso Ribeiro and Will Smith have starred in the sitcom The Fresh Prince of Bel-Air.

Together, they had formed a friendship at the show, which ran for six seasons.

More than two decades later, he told PEOPLE that they "talk every once in a while."

"I talk to everyone when I can," the 53-year-old continued. "We're all obviously doing many different things, but there's a lot of love, and 35 years is pretty special."

The Academy-winning actor, for his part, previously discussed his bond with Alfonso, saying he has one of the best "creative relationships I've had that have totally transformed my life."

"Where you meet somebody who understands you in a way that other people don't understand you — and they're able to understand you, then craft things for you to create and shine and explode," he said in VICE's Black Comedy in America episode. "And Alfonso was that guy for sure."

Will's starrer The Fresh Prince of Bel-Air will mark the 35th anniversary of its premiere on Sept. 10.