John Stamos Recalls Matthew Perry’s Kind Gesture on Friends Set 20 Years Ago: ‘I Never Forgot That’

John Stamos is remembering Matthew Perry with a sweet story about the late actor.

The Full House alum shared an anecdote from his season 9 guest appearance on Friends as he reflected on the kindness Perry — who died at age 54 on Saturday — had shown him.

“Matthew and I had been friendly long before ‘Friends’ So, when I guest starred as Zach, the prospective sperm donor for Chandler and Monica, I hung with him a lot,” Stamos, 60, wrote on Instagram late Monday night alongside a clip from his scene in the sitcom.

In the scene, which took place during the May 2003 episode “The One with the Donor,” Perry’s Chandler Bing and Courteney Cox’s Monica Geller grilled Stamos’ character about his genes as they considered him as a sperm donor.

“Standing backstage, ready to make my entrance, Matt whispers, ‘The audience is going go crazy when they see you! Get ready for some loud screams.’ I walk through the door … silence. I was so embarrassed,” Stamos recalled.

“We finish the scene and as I start to slither back to my dressing room and quit showbiz, Matt walks over to the studio audience: ‘Ladies and gentlemen, give it up for John Stamos! You guys probably didn’t recognize him at first because [he’s] so much better looking in person!’ ”

He added of Perry’s thoughtful gesture, “I never forgot that and the world will never forget you.”

Following the news of Perry’s sudden death at his home in Los Angeles, tributes have been pouring in from Hollywood and around the world for the actor — including from those closest to him.

On Monday, his Friends castmates — Cox, Jennifer Aniston, Lisa Kudrow, Matt LeBlanc and David Schwimmer — spoke out about the loss in an exclusive statement to PEOPLE.

“We are all so utterly devastated by the loss of Matthew. We were more than just cast mates. We are a family,” the cast said. “There is so much to say, but right now we’re going to take a moment to grieve and process this unfathomable loss.”

“In time we will say more, as and when we are able. For now, our thoughts and our love are with Matty’s family, his friends, and everyone who loved him around the world,” they concluded.

The message was signed by Aniston, 54, Cox, 59, Kudrow, 60, LeBlanc, 56, and Schwimmer, 56.

The sitcom’s co-creators Marta Kauffman and David Crane, plus executive producer Kevin Bright, also spoke out amidst the loss, calling Perry “a brilliant talent” as they shared their love for Perry and his iconic character Chandler.

“We are shocked and deeply, deeply saddened by our beloved friend Matthew’s passing,” they wrote. “It still seems impossible. All we can say is that we feel blessed to have had him as part of our lives.”

They continued, “It’s a cliche to say that an actor makes a role their own, but in Matthew’s case, there are no truer words. From the day we first heard him embody the role of Chandler Bing, there was no one else for us.”

“We will always cherish the joy, the light, the blinding intelligence he brought to every moment — not just to his work, but in life as well. He was always the funniest person in the room. More than that, he was the sweetest, with a giving and selfless heart,” they added in the statement.

The statement ended with condolences for other grieving Perry, as well as a sweet reference to the Friends title tradition.

“We send all of our love to his family and friends. This truly is The One Where Our Hearts Are Broken,” they concluded.

The 17 Again actor’s family also spoke out over the weekend, as they told PEOPLE in a statement, “We are heartbroken by the tragic loss of our beloved son and brother. Matthew brought so much joy to the world, both as an actor and a friend.”

The statement continued, “You all meant so much to him and we appreciate the tremendous outpouring of love.”