Vivica A. Fox, Harvey Keitel Remember Michael Madsen After His Death

Vivica A. Fox, Stephen Baldwin and Harvey Keitel are among Michael Madsen’s friends and costars mourning the actor after his death at 67 on Thursday, July 3.

“I had the pleasure of working with Michael Madsen on Kill Bill and several other films,” said Fox, who worked with Madsen on Quentin Tarantino’s Kill Bill movies, the 2011 drama Black Gold and 2017’s Garlic & Gunpowder. “Michael was a talented man with an amazing onscreen presence. My deepest condolences and prayers to his family.”

Fox, 60, played a member of Kill Bill’s Deadly Vipers Assassination Squad opposite Uma Thurman’s the Bride, while frequent Tarantino collaborator Madsen portrayed a former member of the group and bar bouncer in the two-part action film.

“Heartbroken to hear about the passing of Michael Madsen — a true original, fearless and unforgettable,” Baldwin, who worked with Madsen on the 2014 movie 2047: Sights of Death and 2016’s Magi, says in a statement. “Honored to have known and worked with him. My prayers are with his wife DeAnna and the entire Madsen family. Rest easy, brother.”

Keitel, the 86-year-old actor who costarred with Madsen in Tarantino’s breakout 1992 movie Reservoir Dogs, told the New York Post the world has “lost another great American poet.”

“Farewell, my dear friend. I’ll never forget one of the best scenes I’ve ever seen on film — of you and Chris Penn fighting in Reservoir Dogs. A great love scene,” Keitel added in that statement, asking Madsen to give the late Penn, who died at 40 in 2006, “a hug for me.”

Madsen was a prolific actor known for his collaborations with Tarantino, 62, and tendency to portray tough-guy characters. He appeared in over 300 movies during more than four decades in the film industry, beginning with a role in 1982’s Against All Hope.

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According to NBC4 Los Angeles, Madsen was pronounced dead on July 3 after Los Angeles County deputies responded to a 911 call at his home.

“What we understand is Michael had a cardiac arrest and was found unresponsive in his Malibu home earlier this morning,” his manager Ron Smith told PEOPLE July 3. As Smith and his other manager Susan Ferris, as well as publicist Liz Rodriguez, said in a statement, the actor was preparing to release a new book titled Tears For My Father: Outlaw Thoughts and Poems on top of his acting work when he died.

“Michael Madsen was one of Hollywood’s most iconic actors, who will be missed by many,” they added.