The actor spoke to PEOPLE about briefly reuniting with his former costar

While speaking to PEOPLE at the 2024 Tony Awards in New York City on Sunday, June 16, the actor, 60, says the Duke and Duchess of Sussex were “very much in love” when he met up with the pair last year.

“When [Meghan] came into town, she got an award last year, had a chance to say hello and wish she and Prince Harry well and wish the children well,” Pierce tells PEOPLE. “They look very much in love and were very happy, so that’s the most important thing.”

Pierce, who played the father of Meghan’s character Rachel Zane on Suits, says that working with her on the legal drama was “a blast.” He adds that since the show ended in 2019, he has reunited with the Meghan, 42, “a few times.”

SUITS: Meghan Markle as Rachel Zane, Wendell Pierce as Robert Zane

From Left: Meghan Markle and Wendell Pierce on ‘Suits’.BEN MARK HOLZBERG/USA NETWORK/NBCU PHOTO BANK/NBCUNIVERSAL VIA GETTY

The Cast of ‘Suits’: Where Are They Now?

“I’ve gotten to see her just a few times since, and we’ve been able to reminisce and so it’s real, we have fond memories of working together,” the Tony Award winner shares.

While discussing the show at the Tony Awards on Sunday, Pierce also shared his reaction to the renewed popularity of Suits on Netflix, after the series broke record-breaking streaming numbers on the streaming service in 2023.

Wendell Pierce attends the 'Tuesday' New York Special Screening, Meghan, Duchess of Sussex and Prince Harry, Duke of Sussex attend the 2022 Robert F. Kennedy Human Rights Ripple of Hope Gala

From Left: Wendell Pierce; Meghan Markle and Prince Harry.SANTIAGO FELIPE/GETTY IMAGES; MIKE COPPOLA/GETTY IMAGES

“It did surprise me,” the actor tells PEOPLE. “We finished the show almost eight years ago, and so to have this resurgence is pretty amazing.”

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Wendell Pierce at the 77th Annual Tony Awards held at the David H. Koch Theater at Lincoln Center on June 16, 2024

Wendell Pierce at the 2024 Tony Awards.KRISTINA BUMPHREY/VARIETY VIA GETTY IMAGES

Pierce also teased a possible return to the Suits universe in the upcoming spinoff, Suits L.A., which will be led by Stephen Amell.

“And so now there’s going to be a new generation of folks to take it over, and I’m sure that some of us will make some cameos, but it’s really great to have a resurgence,” he tells PEOPLE of the new show.

The first eight seasons of Suits are now streaming on Netflix. The ninth and final season of the drama will join the platform on July 1.