"Even with all of Gary's amazing professional accomplishments – the TV shows, movies, awards – they are nothing compared to how great a guy he was," Lawrence said in statement to TheWrap on Monday.
"I will forever consider myself lucky to be one of the many, many people whose lives he changed for the better."
In 1995, the man behind NBC's "Family Ties" co-created ABC's "Spin City" with a 27-year-old Lawrence. The series would reunite Goldberg with star Michael J. Fox, find some critical success and run for six seasons.
When the news broke on Sunday that 68-year-old Goldberg had died after a long battle with brain cancer, Lawrence initially expressed his feelings on Twitter.
"Everyone has a mentor (or two hopefully) that touches his/her life,” Lawrence wrote. “Gary Goldberg passed away today. Wish I had thanked him more.”
Earlier on Monday, Fox also released a statement about the man who started his career back in 1982 with "Family Ties" and then tapped him again more than a decade later for "Spin City."
"With a full heart I say goodbye to my mentor, benefactor, partner, second father and beloved friend, Gary David Goldberg," the 52-year-old said. "He touched so many with his enormous talent and generous spirit. He changed my life profoundly. Love to [his wife] Diana and all of Gary's family."