The comedians were co-stars during the last season of the popular ABC sitcom "Mork & Mindy"
"First he was my idol, then he was my mentor and amazing friend. I'll miss him huge," Williams wrote on his Facebook. "He was my Comedy Buddha. Long live the Buddha."
Williams co-starred with Winters on the fourth and final season of ABC sitcom "Mork & Mindy." Winters, already one of Williams' idols at the time, played the titular couples' child, Mearth. The alien aged backwards, much like Brad Pitt in "Benjamin Button," which explained his older appearance.
Winters, who most recently voiced Papa Smurf in both of Sony's "Smurfs" movies, died of natural causes in his Montecito, Calif. home on Thursday night. He was 87.