Ricki Lake, Pauly Shore and More Stars Mourn 'Special' Richard Simmons After His Death: 'One of a Kind'

The fitness guru died on July 13 — one day after celebrating his 76th birthday

Richard Simmons is being remembered by various celebrities after his death.

The fitness guru died one day after celebrating his 76th birthday, his longtime publicist, Tom Estey, confirmed to PEOPLE on Saturday, July 13. "The world has truly lost an angel," he said of Simmons.

Simmons died at his Los Angeles home, according to TMZ, who said no foul play was suspected. The outlet added that authorities responded to a call from a housekeeper at around 10 a.m. local time.

In a series of posts shared across social media, many paid tribute to Simmons, remembering him for his larger-than-life personality.

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Related: Richard Simmons, Fitness Guru, Dies at 76

"My heart is broken with the loss of this super special human," Ricki Lake wrote in a tribute shared on X, formerly Twitter. "May he RIP. #richardsimmons I loved him so so much."

Alongside her post, the actress included a throwback photograph of herself, Simmons and Maria Menounos posing together.

Simmons' longtime friend and fellow fitness guru Denise Austin shared a tribute on Instagram, writing that her "heart is hurting" following the news of his death.

"I am heartbroken, as he is someone l have known and started the aerobics business with over 40 years ago," she wrote alongside a series of photos of the pair together over the years. "Every time we were together we had so much fun… filled with hugs, laughter and tears."

Austin, 67, went on to share some favorite memories of the late star. "I'll never forget Richard singing through the hallways, hugging my daughters and even to sending me a letter when my mom passed," she continued. "I cherished our friendship - and I can’t believe I just reached out less than a month ago."

She concluded her tribute with a personal message for her friend: "Richard - you have left an impact on us all. Thank you for all your love. We did so much together in this life. I love you so much. You will forever be in my heart!!"

In another tribute on X, Whose Line Is It Anyway's Greg Proops remembered the star, who appeared on the show in June 2003.

"Richard Simmons was a lovely man. Gracious and funny. Likely our most popular guest," he wrote.

Pauly Shore also remembered the late star with his own social media post, writing, "I just got word like everyone else that the beautiful Richard Simmons has passed," alongside a photograph of the star.

"I hope you’re at peace and twinkling up in the heavens. Please give my mother Mitzi and my father Sammy a big hug and a kiss for me," he added. "You’re one of a kind, Richard. An amazing life. An amazing story. They broke the dolphin shorts when they made you. Rest in peace, my friend. Rest in peace."

Gloria Gaynor, for her part, began her own post: "Thinking of the family and loved ones of Richard Simmons.

"He brought so much joy, happiness and life changing moments to so many through his unstoppable drive to make a positive difference in people’s lives," she continued.

Related: Richard Simmons Posted on Social Media Just Hours Before His Death: See His Final Messages

In a statement given to PEOPLE, Lenny Simmons also remembered his brother after his death.

"I don’t want people to be sad about my brother. I want them to remember him for the genuine joy and love he brought to people’s lives," he said. "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. He was very excited about all of his upcoming ventures he was working on," the Simmons sibling continued.

He added: "We are in shock. Please respect the family at this difficult time."

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