Richard Simmons’ Brother Says He Doesn’t ‘Want People to Be Sad’ About Fitness Guru’s Death: ‘Celebrate His Life’ (Exclusive)

Richard died on Saturday, July 13, at age 76, his longtime publicist, Tom Estey, confirmed to PEOPLE

Lenny Simmons, brother of the late fitness guru Richard Simmons, is reflecting on his life and sending a message to his many fans.

On Saturday, July 13, just hours after news broke that Richard had died at age 76, Lenny spoke exclusively with PEOPLE about his late brother's life and legacy.

"I don’t want people to be sad about my brother," he said. "I want them to remember him for the genuine joy and love he brought to people’s lives. He truly cared about people. He called, wrote and emailed thousands of people throughout his career to offer help."

"So don’t be sad. Celebrate his life," Lenny continued.

The news of Richard's death came as a shock to his friends and family, Lenny added, noting that the TV star — who had just marked his birthday on Friday — was looking forward to some projects he had in the pipeline.

"He was very excited about all of his upcoming ventures he was working on," Lenny told PEOPLE, adding, "We are in shock. Please respect the family at this difficult time."

The professional fitness coach's longtime publicist, Tom Estey, confirmed Richard's death to PEOPLE on Saturday after TMZ first reported the news. The outlet cited reports from law enforcement, and added that no foul play was suspected.

According to the outlet, authorities responded to a call from the former Richard Simmons Show star's housekeeper at around 10 a.m. PT on Saturday.

"The world has truly lost an angel," Estey told PEOPLE of Richard.

Just days before his death, Richard spoke to PEOPLE in a story published on Friday about how he planned to celebrate his 76th birthday that day, saying he wanted to keep things simple — but wouldn't be enjoying any cake.

"But the candle will probably be on a zucchini. You know, I'm a vegetarian," he said, before adding that he would try "maybe one Pepperidge Farm Milano cookie."

"I feel good!" the late star added elsewhere in the interview. "I am grateful that I'm here, that I am alive for another day. I'll spend my birthday doing what I do every day, which is to help people."

Related: Richard Simmons Says He Is Celebrating His 76th Birthday with 'Candle on a Zucchini' (Exclusive)

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Richard had remained almost entirely out of the public eye since 2014 and eventually closed his iconic Beverly Hills fitness studio, Slimmons, in November 2016. Around that time, fans began to speculate about his whereabouts, and a rumor even sparked that he was being held at his home against his will. However, both Richard and his brother Lenny clarified that he wanted time off to rest.

Estey also addressed the rumors at the time, telling PEOPLE that Richard had simply decided to step out of the spotlight.

“Richard made a choice. To live a more private life. If he decides to come back, he’ll come back,” Estey said.

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