"I guarantee you he will change so many lives," said Pintauro's former Who's the Boss? costar on Tuesday

By Lanford Beard
September 29, 2015 02:20 PM

Another Who’s the Boss? star has come out in support of Danny Pintauro after he revealed on Saturday’s episode of Oprah: Where Are They Now? that he has been HIV-positive for 12 years.

On Tuesday’s episode of The Talk, guest co-host Alyssa Milano wept as she talked about her former costar’s “very brave” decision to go public with his status.

“I hate that it took him so long to feel comfortable, but I’m so glad that he is able to express himself now, and I guarantee you he will change so many lives,” said Milano, 42, as tears streamed down her face.

Milano continued, “I’m so grateful that this disease is now being discussed again because it feels like there was such a long time that it wasn’t, and he is a beacon of light, and he will be. I’m proud.”

Alyssa Milano and Danny Pintauro in 1989
Ron Galella/WireImage

As co-host and fellow former child star Sara Gilbert fought back tears, co-host Aisha Tyler said, “I was crying, when I was watching him [on Saturday] also because I feel like it is such a brave move for him. People feel like HIV is a thing of the past. In some communities, infection rates are actually increasing, not decreasing. We need to be talking about this every single day. It saves lives, and he is going to save lives.”

The actor’s former on-screen mom Judith Light also supported Pintauro, 39, on Monday, telling Fox’s Good Day New York anchors: “I’m so proud of him.”

“He is talking about being HIV-positive. He is being incredibly proactive,” said Light, 66. “He’s giving a different face to what is still a disease that has not been handled.”

In his first interview after he shared the news this past week, Pintauro exclusively told PEOPLE that Who’s the Boss? costar and friend Tony Danza had also been “really supportive.”

When he told Danza, 64, that he would be revealing his status to the world, Pintauro recalled, “Tony, of course, was that fatherly, like, making sure I’m okay and just sort of being on board but worried about me more than anything and worried about what people would say and how I’ll be able to take care of myself and all of that. I appreciate it, for sure.”

Of his motivation to reveal his past dependency on crystal meth and his status more than a decade after his diagnosis, Pintauro told PEOPLE: “I am speaking out because I want everyone who continues to ‘tweak’ and party to know that it is not worth the price. I want my community to wake up, stop being complacent and start taking care of each other. We need to be the best we can – safe and healthy.”