Robin Williams's Elder Son Speaks Out: 'We're Trying to Stay Strong'

11/21/2014 AT 03:30 PM EST

Before an emotional tribute to his father, Oscar-winning actor and comedian Robin Williams, Zak Williams spoke to PEOPLE about adjusting to life without his famous dad, admitting, 'It's tremendously sad ... we're trying to stay strong.'

'The key thing that I want [people] to know is that we're doing okay,' Williams's eldest son said Thursday at the annual Christopher & Dana Reeve Foundation gala, where he paid tribute to the friendship between his dad and the late Superman actor, a tireless advocate for people living with spinal cord injuries.

'We're experiencing the new normal now,' the 31-year-old said of the months since his father's death in August.

'It's tremendously sad,' he said. 'But healing is a long-term process. We've got a great group of people helping us through it.'

In an evening intended to celebrate the amazing progress made by the Christopher & Dana Reeve Foundation - just last month Matthew Reeve, the late actor's eldest son, announced a huge breakthrough in spinal cord injury treatment - Alexandra Reeve Givens, Reeve's only daughter, noted, 'We'd also be remiss if we didn't acknowledge some of the incredible losses we've experienced as well,' including director Mike Nichols, Philip Seymour Hoffman and Williams, all longtime supporters of the foundation.

'Robin was a light in our family for as long as we can remember,' Will Reeve, 22, the only son of Dana and Christopher, also said. 'He and Dad made each other laugh and they stood by each other to the end.'

Noting that his father's friendship with Reeve dated back to their days as roommates at Julliard, Zak Williams said that their relationship grew even deeper after the 1995 horseback riding accident that left Reeve a quadriplegic.

'It was then that Chris and Dad became family, brothers from another mother,' he said to laughs.

'The amazing thing about their relationship was their incredible drive to take the time to love, to help and to appreciate others even while they found themselves in great pain,' Williams said.

'They always found time to give their all to those in need. I miss them dearly,' he said, his voice breaking. 'But know that they are here within all of our hearts.'

The evening, hosted by Meredith Vieira, also included performances by Rufus Wainwright and Alexa Ray Joel, and honored other champions of people living with paralysis including Senator Tom Harkin, hockey player-turned-philanthropist Travis Roy and one of the foundation's former board members, Arnold Snider, who passed away earlier this year.

Zak Williams also invoked the spirit of his late father and his great friend Reeve when he addressed the crowd.

'In the spirit of honoring them, I need to ask of you two things,' he said. 'One: Tell the people you love that you love them at any and every opportunity. If they are in physical pain, tell them that there is hope. If they are in mental anguish, tell them there is hope. There is always hope.'

'Two: Be a superhero. I challenge you to do good,' he said. 'Time is precious and bringing light and healing where there is darkness, pain or suffering is absolutely vital.'

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