How the Kardashians Are Remembering Their Late Father and 'Guardian Angel' Robert on His Birthday

updated 02/23/2016 AT 09:30 AM EST

originally published 02/22/2016 AT 10:25 AM EST

Robert Kardashian been brought back to life on TV with American Crime Story, and on Monday, his famous family remembered the late lawyer in honor of what would have been his 72nd birthday.

Rob Kardashian, his youngest child and only son, uploaded an old photo of him as a boy sitting on Robert's shoulders to Instagram late Monday.

How the Kardashians Are Remembering Their Late Father and 'Guardian Angel' Robert on His Birthday| Birthdays, Death, Tributes, Cancer, People Scoop, TV News, Khloe Kardashian, Kim Kardashian

Rob and Robert Kardashian

Source: Rob Kardashian / Instagram

"So much has gone on in our lives since u've been gone& I know u have been my guardian angel seeing it all unfold! I love u &miss u so much!" Kim Kardashian West – who chose the bittersweet occasion to share the first photo of her 3-month-old son Saint West's face – tweeted.

How the Kardashians Are Remembering Their Late Father and 'Guardian Angel' Robert on His Birthday| Birthdays, Death, Tributes, Cancer, People Scoop, TV News, Khloe Kardashian, Kim Kardashian

Robert Kardashian

Source: Kim Kardashian West / Twitter

Sister Khloé Kardashian posted a vintage picture of her dad holding her as a curly-haired child in one arm and a football in the other.



"To the best man I've ever known, happy birthday daddy," she tweeted. "I miss you! I miss you! I miss you!"



Robert's eldest child Kourtney Kardashian also honored him on social media, tweeting, "Happy birthday to my favorite man in the world who taught me everything. I wish I could hug you. I love you Daddy."



Robert died Sept. 30, 2009 from cancer. He was 59 and is survived by ex-wife Kris Jenner, now 60, and their four children: Kourney, 36, Kim, 35, Khloé, 31, and Rob, 28.

The businessman and attorney became a household name when he helped defend friend O.J. Simpson during his infamous 1994 murder trial. David Schwimmer plays Robert on FX's critically acclaimed miniseries about the case.



Kris, 60, re-posted a home movie Robert shot of Khloé as a toddler.

#love #family #memories #Repost @khloekardashian

A video posted by @krisjenner on



Her daughter Kendall Jenner even posted a photo of Robert holding her and baby sister Kylie Jenner. "happy birthday. we miss you," she tweeted, adding a heart emoji.
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