Ron Perlman posted a heartfelt message on Twitter Monday upon hearing about the death of his former "Beauty and the Beast" co-star Roy Dotrice.

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"Love you dear Pop. Forever and ever. You were the best of us. My heart is broken... See you up top. XoxO Roy Dotrice......," Perlman tweeted.

Perlman and Dotrice co-starred as adoptive father and son on the television fantasy drama from 1987 to 1990.

Dotrice -- who is also known for his roles in the film "Amadeus" and the show "Game of Thrones" -- died Monday at the age of 94.