Melissa Joan Hart on How Martin Mull ‘Helped Cement My Work Ethic’ (Exclusive)

Melissa Joan Hart is recalling the words of wisdom she received from her late Sabrina the Teenage Witch costar, Martin Mull.

The 48-year-old actress tells PEOPLE that Mull — who died on June 28 at age 80 — was “a bright light to everyone who knew him and an immense talent who made comedy look easy.”

“His work ethic was only matched by his love for everyone he encountered.” she says of Mull, who played Principal Willard Kraft on Sabrina the Teenage Witch from 1997 to 2000. “I’ll always remember how he told me he took every job that came his way because in this business you never know when it’s your last job.” 

“This helped cement my work ethic in this industry no matter how tough times can get. How blessed we were to get to be in his orbit for our time on Sabrina.” she concludes.

After Mull’s daughter, Maggie Mull, announced the news of the actor’s death in a touching Instagram post on Friday, Hart shared her memories of the legendary comedian on social media alongside a throwback photo of the pair posing in costume together on set.

“Rest in Peace my friend. The incredible #MartinMull (Principal Kraft) has left us for his eternal rest,” she began her post’s caption, adding, “I have such fond memories of working with him and being in awe of his huge body of work which before #SabrinaTheTeemageWitch included #Roseanne and #MrMom as the projects I knew him from.”

She saluted Mull for his appearances on “huge shows as well as features and animation” following his time on Sabrina.

Mull also appeared and starred in shows such as Two and a Half Men, Arrested Development, The Ranch and The Cool Kids. He earned an Emmy nomination for his guest role on Veep in 2016. His film credits include Clue, Far Out Man and Mrs. Doubtfire. Most recently, he had guest appearances in Not Dead Yet, Grace and Frankie and The Afterparty.

In her Instagram tribute, Hart shared Mull’s explanation for why he took so many roles.

“He once told me that he takes every job he’s offered just in case the train comes to an end, which in this business tends to halt quickly,” wrote Hart. “He was an artist who liked to paint and build things with his hands, a musician and a wonderful man who i am better for knowing. ”

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The actress ended by stating that the world is a better place thanks to Mull.

“He will be missed but this world has benefited from his being here,” she wrote. “My deepest sympathies to his family and friends. I will continue to cherish the Martin Mull art work hanging in my home!”