In an ABC News exclusive preview of Victor and Libby Boyce's interview with Robin Roberts, the parents of the "Descendants" star recalled their last night with late actor and the how they plan to honor his legacy.
"The night he passed away, we were out to dinner with him just hours before," Victor said. "It was a completely normal, beautiful family night out to dinner."
"There was no indication that anything was wrong," he continued. "I mean there was no way to know in hours my son would be dead. Like, it was just staggeringly crazy and horrible. And we were texting that night."
Cameron, who passed away in his sleep at the age of 20 in early July, suffered from epilepsy, but didn't want the condition to "define him," Libby explained.
"It didn't define him," said Victor added. "He wasn't scared. He never complained about anything."
"Never," Libby agreed. "He loved life. He was kind of in a place -- this is, for me, the hardest thing -- he was in a place where he was truly happy. I mean, Cameron was always happy. Never a negative thing came out of his mouth. Never! But he was just really finding his groove."
According to the Boyces, the Disney star was getting into charity work and finding ways to use his platform for good, something that his parents taught him.
"He was really getting into the charity stuff, really getting into what he wanted to do with his voice, which is what we always told him to do," Libby explained. "Use your voice. Use it to make positive in the world, and that's what he was starting to do."
Victor and Libby plan to carry on their son's legacy through The Cameron Boyce Foundation, which will focus on causes the actor was passionate about, including spreading kindness and ending gun violence.
"His legacy is important to us because we don't want him to be remembered as just an actor or some Disney kid. Because he was so much more than that," Victor said of his son. "He wanted to be known as his own person, you know, individually and not cookie-cutter."
Cameron, who Libby described as the "bedrock" of their family," is also survived by his sister, Maya.
Roberts' full interview with Boyce's parents airs this Thursday on "Good Morning America."