Warner began his career as an actor by playing Theo Huxtable, the only son of Bill Cosby 's character, Heathcliff Huxtable, in The Cosby Show from 1984 to 1992. He went on to star alongside Chestnut on Fox's The Resident for two seasons.

"Malcolm was doing what he loved when he died — he was with his family," Andrew Wyatt, a spokesperson for Bill Cosby, tells PEOPLE