His wife Donna Guillaume told CNN he had battled prostate cancer in recent years.
“He kinda went the way everyone wishes they could, surrounded by love and in his sleep,” Guillaume said.
She added that her husband really loved making music, entertaining and making people laugh.
He treasured his role as Rafiki in Disney’s 1994 animated film “The Lion King,” she said.
Guillaume starred as the level-headed butler Benson DuBois on the sitcom “Benson” from 1979 – 1986.
Guillaume is survived by four children, all of whom had spent time visiting with their father in his final weeks, Donna Guillaume said.
“He was a good father and a good husband. He was a great, great person,” she said.