Richard Simmons’ brother says he doesn’t want people to be sad about his death (exclusive)

Lenny Simmons, brother of the late fitness guru Richard Simmons, looks back on his life and sends 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 to 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 because he brought real joy and love into people’s lives. He really cared about people. Over the course of his career, he called, wrote and emailed thousands of people to offer them 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 television star, who just celebrated his birthday on Friday, had been looking forward to some projects he had in the pipeline.

“He was very excited about all the upcoming projects he was working on,” Lenny told PEOPLE, adding, “We are in shock. Please respect the family during this difficult time.”

The professional fitness trainer’s longtime publicist, Tom Estey, confirmed Richards’ death to PEOPLE on Saturday after TMZ first reported the news, citing police reports and adding that no foul play was suspected.

According to the outlet, authorities responded to a call from the former Richard Simmons Show the star’s housekeeper on Saturday around 10:00 a.m. PT.

“The world has truly lost an angel,” Estey told PEOPLE about Richard.

Just days before his death, Richard spoke to PEOPLE in an article published Friday about how he planned to celebrate his 76th birthday that day. He said he wanted to keep it simple — but no cake.

“But the candle will probably be on a zucchini. You know, I’m a vegetarian,” he said, adding that he would “maybe try a Pepperidge Farm Milano cookie.”

“I feel good!” the late star added elsewhere in the interview. “I’m grateful that I’m here, that I’m alive for another day. I’m going to spend my birthday doing what I do every day, which is helping people.”

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Richard had almost completely withdrawn from the public eye since 2014, eventually closing his iconic Beverly Hills gym, Slimmons, in November 2016. Around this time, fans began speculating about his whereabouts, and there were even rumors that he was being held at home against his will. However, both Richard and his brother Lenny made it clear that he wanted some 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 has made a decision. He wants to live a more private life. If he decides to come back, he will come back,” Estey said.