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.

"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.