During the interview, which was hosted by Savannah

Guthrie on Thursday, the Olivia Benson actress appeared

teary-eyed as she reflected on Richard’s enduring legacy.

“What a heart and soul that he was,” she paused, before

adding, “he was family and taught me so much about taking risks and creativity and trust and he brought so much joy to the set.”

MORE: Richard Belzer passes away at age 78 – co-star Mariska Hargitay pays tribute

READ: Law and Order SVU’s Mariska Hargitay has fans in tears with emotional tribute to late mother

It’s not the first time that Mariska has addressed the Law & Order star’s passing, as on Sunday she issued a heartfelt tribute on Instagram, which read: “Goodbye my dear, dear friend. I will miss you, your unique light, and your singular take on this strange world. I feel blessed to have known you and adored you and worked with you, side by side, for so many years. How lucky the angels are to have you. I can hear them laughing already. I love you so very much, now and forever.”