In the wake of Pope Francis’s death today at age 88, former president Barack Obama has joined world leaders in paying tribute to the late pontiff.

“Pope Francis was the rare leader who made us want to be better people,” Obama wrote in a message shared on his website and social media channels. “In his humility and his gestures at once simple and profound – embracing the sick, ministering to the homeless, washing the feet of young prisoners – he shook us out of our complacency and reminded us that we are all bound by moral obligations to God and one another.”

He continued, “Today, Michelle and I mourn with everyone around the world – Catholic and non-Catholic alike – who drew strength and inspiration from the Pope’s example. May we continue to heed his call to ‘never remain on the sidelines of this march of living hope.’”

Obama meets Pope Francis at his private library in the Apostolic Palace on March 27, 2014 in Vatican City. Vatican Pool – Getty Images

Pope Francis and President Barack Obama in the Oval Office, September 2015. Alex Wong – Getty Images

Obama and Pope Francis met numerous times, including when Obama traveled to the Vatican in 2014 and Pope Francis visited the United States in 2015. Obama’s tribute today called back to the remarks he delivered upon the Pope’s visit to the White House.

“Your Holiness, in your words and deeds, you set a profound moral example,” Obama said. “And in these gentle but firm reminders of our obligations to God and to one another, you are shaking us out of complacency. All of us may, at times, experience discomfort when we contemplate the distance between how we lead our daily lives and what we know to be true, what we know to be right. But I believe such discomfort is a blessing, for it points to something better.”

He added, “You… give us confidence that we can come together in humility and service, and pursue a world that is more loving, more just, and more free.”