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Leonard Nimoy, Zachary Quinto

Amanda Edwards/Getty Images

It's been a year since the death of Star Trek legend Leonard Nimoy and Zachary Quinto, who plays his character and starred with him on the big screen, holds a special place in his heart for him.

The actor, who originated the role of Mr. Spock in the original series, died at age 83 on Feb. 27, 2015. Quinto befriended Leonard while playing his character's younger self in the first two new Star Trek movies, which contained elements of time travel.

"I've never met somebody actually who so fully embodied a sense of fulfillment in their life," Quinto said recently on The Late Show With Stephen Colbert. "I really haven't. He was such a tremendous artist and philanthropist and generous person and so intelligent. I miss him all the time. I really miss him so much at this point, obviously, marking the anniversary of his passing."

"He was one of the greatest gifts that my career has brought into my personal life, for sure," he added.

Leonard is survived by wife Susan Bay Nimoy and a son and daughter from a previous marriage. Quinto told Stephen Colbert Bay recently came and watched him perform in his off-Broadway play Smokefall, which opened earlier this month.

"She came from L.A. to be there with us," the actor said. "She's as much a part of my life as he was. I feel really lucky to have known them on so many levels, for sure."

Zachary Quinto, Leonard Nimoy, Famous Friends

Alex J. BerlinerĀ®Berliner Studio/BEImages

Days after Leonard died, Quinto penned a touching essay in Time magazine about the actor. He said that while he was not a Star Trek fan growing up, he had "always felt an inexplicable connection to Leonard."

"I lost my own father when I was very young, so to have this man come into my life and resonate so many qualities to which I aspire, and be such an example of dignity and grace and fulfillment—that was the part of it that so far exceeded any expectations I could have had," he wrote, adding, "The world is a better place for having had Leonard Nimoy in it, and I am a better man to be sure."

Quinto reprises his role as Spock in the third new Star Trek movie, Star Trek Beyond, which is set for release in July. Last year, he and other members of the cast filmed a moving video tribute to Leonard as part of the Star Trek: To Boldly Go charity fundraising initiative.

"It was an honor and a privilege to know him and to call him a friend," Quinto says in the clip. "Leonard's love for the human spirit shone through everything he did. He touched lives around the world and he is greatly missed."