Today is a significant day for the Kardashian family, as it would have been the late Robert Kardashian’s 73rd birthday. Robert tragically passed away in September of 2003 after a short battle with esophageal cancer, at the age of 59.

Family members took to Instagram to honor him with sweet and touching messages and throwback photos.

Rob posted two adorable childhood pics. The captions read, “Happy Birthday, Pops” and “Happy Birthday dad woohoo! Wish you were here to meet Dream”. Take a look:

Happy birthday pops 💙💙

A post shared by ROBERT KARDASHIAN (@robkardashian) on Feb 22, 2017 at 8:28am PST

Happy birthday dad woohoo! Wish you were here to meet Dream🙏🙌🙌

A post shared by ROBERT KARDASHIAN (@robkardashian) on Feb 22, 2017 at 8:29am PST

Kourtney shared her love for him too:

Happy birthday to the most handsome, funniest, sweetest, best daddy in the world! #MoustacheOnFleek

A post shared by Kourtney Kardashian (@kourtneykardash) on Feb 22, 2017 at 12:04pm PST

Kris Jenner posted a touching tribute to her late ex-husband, saying, “There’s not a day that goes by that we don’t miss you. Forever grateful for the love you gave, the lessons you taught the kids, and the memories we shared. Missing you always. I am so blessed to have had you in my life and I cherish every single memory. I love you. Happy birthday Robert. #family #love #memories.”

There’s not a day that goes by that we don’t miss you. Forever grateful for the love you gave, the lessons you taught the kids, and the memories we shared. Missing you always. I am so blessed to have had you in my life and I cherish every single memory. I love you. Happy birthday Robert. #family #love #memories

A post shared by Kris Jenner (@krisjenner) on Feb 22, 2017 at 11:12am PST

Happy Birthday, Robert. You sure were loved.