After reuniting for a Zumba class, the on-screen siblings told PEOPLE that they still hold their sitcom family close to their hearts

(L-R) Will Smith as William ‘Will’ Smith, Alfonso Ribeiro as Carlton Banks and Tatyana Ali as Ashley Banks in ‘The Fresh Prince of Bel-Air’ in 1995. Photo:Gary Null/NBCU Photo Bank/Getty

In an exclusive interview with PEOPLE after reuniting for a Zumba class, Alfonso Ribeiro and Tatyana Ali — who played brother-sister duo Carlton and Ashley Banks in the ‘90s series — revealed that the Fresh Prince stars keep in touch via a cast group chat. Although Ribeiro, 52, remained vague about what the former costars discuss, he compared their messages to “family” updating each other about their lives.

The Dancing with the Stars co-host emphasized that his fondest memories of filming Fresh Prince are tied to the relationships he cultivated with his costars, telling PEOPLE that Will Smith is still his “brother,” while Ali, 45, and Karyn Parsons (Hilary Banks) are his sisters. Ribeiro also honored his TV father James Avery, who died in 2013 at age 68, calling him a “second dad.”

“There’s so many relationships that were created then that still are incredibly impactful in our lives today,” Ribeiro said. “It meant everything in the world. It changed all of our lives.”

Alfonso Ribeiro and Tatyana Ali reunite at a Zumba Class in June 2024.Courtesy Zumba

For on-screen siblings Ribeiro and Ali, their dynamic has continued off-camera and into adulthood. Now located in different parts of the country, the two make an effort to visit each other whenever they’re in the same city. Ribeiro added that their families are friends as well, with his wife Angela staying in contact with Ali.

“Tatyana has always been my little sister, even though there are times when she’s like, ‘I don’t wanna be your little sister no more,’ “ Ribeiro joked. “That was as teens. Now that we’re adults, she’s okay with me being older.”

Premiering in 1990 on NBC, The Fresh Prince of Bel-Air followed Smith, now 55, as a fictionalized version of himself who is sent to live with his wealthy aunt and uncle in Bel-Air, Los Angeles, from west Philadelphia. The series ran for six seasons, concluding in 1996, but has since cemented its legacy in television history for its ability to juxtapose humor with serious themes.

(L-R) Will Smith, Daphne Maxwell Reid, Karyn Parsons, Alfonso Ribeiro, Joseph Marcell, Tatyana Ali and DJ Jazzy Jeff reunite for ‘The Fresh Prince of Bel-Air’s 30th anniversary special in 2020.Courtesy of Will Smith

Amid the pandemic, in April 2020, Smith invited his castmates onto his Snapchat series Will From Home. On the video call, which featured Smith, Ribeiro, Ali, Parsons, Joseph Marcell and Daphne Maxwell Reid, the Fresh Prince family reacted to old clips from the sitcom together.

“You guys are my second family,” Smith said at the end of the episode. “I’ve been shaped by my interactions and relationships … when I look back, the best times in my life will have been on that set.”

In celebration of the show’s 30th anniversary, the stars reunited once more for an HBO Max special. They recounted memorable behind-the-scenes moments, paid tribute to the late Avery and discussed Fresh Prince’s lasting impact.

“The continuing legacy for Fresh Prince will simply be that we changed television in a positive way, and that we will go down in history as one of the best to have ever done it,” Ribeiro said during the reunion.

The Fresh Prince of Bel-Air is streaming in full on Max.