Usher is mourning the loss of drummer Aaron Spears, his friend and musical collaborator, who recently died at 47.

"I cry, tears of joy, looking back at all of the memories we had together. I realize that you were the joy in every room you were in. We should not take life for granted or the people we love most as though they're gonna be there forever," Usher captioned an Instagram post Friday, which included photos and videos of the pair. "There are good people and then there are great people. Aaron Spears was great!! As a father, a son and in spirit."

The R&B star continued, "Aaron was one of my (heroes). He motivated me to do more, musically. Them drum rolls and that pocket was like none other. He had a heart that was pure…he wished people well and supported others. He was happy for others. He wanted greatness for people.

"I cry these tears of joy daily, wishing I could pick up the phone and hear your voice one last time. We always said I love you before hangin up."

Usher took the opportunity to remind his followers to be present with loved ones and never take anything for granted.

"Dap up or hug the people you love most more, the ones you love most…spend time with them more, talk to them more, cherish them more or if you can, see about them more," he wrote. "You never know when you may never meet again. Be present."

Aaron Spears' work on Usher's 'Confessions' earned him a Grammy nomination

Spears' wife announced his death on social media earlier this week.

"It is with a heavy heart and overwhelming sadness that I share the news of the passing of my beloved husband, Aaron Spears," reads an Oct. 30 post on Spears' Instagram account, signed by wife Jessica and son August.

Spears was nominated for a Grammy in 2004 for his work on Usher's record-breaking album "Confessions." His long list of touring and production credits includes work on projects for Lil Wayne, Carrie Underwood, Usher, Jordin Sparks, Chaka Khan, Adam Lambert, Mary Mary, The Backstreet Boys, Miley Cyrus, Lady Gaga, Britney Spears and, most recently, Ariana Grande.

The Grammy-nominated musician celebrated his birthday on Oct. 26, just days before his death, marking the milestone with a post on social media expressing his gratitude.

"With every trip around the sun that God blesses me with, my heart is filled with more gratitude and I’m more focused on the things that are most important," he said. "I love and appreciate each of you for your kindness towards me, my gift and also to my family…This has honestly been one of the best years of my life."

Contributing: Taijuan Moorman

'A celebration of my life':Usher dishes on 'celebration' of Super Bowl halftime show