"He kinda went the way everyone wishes they could, surrounded by love and in his sleep." That's what Donna Guillaume told CNN after her husband, 'Benson' star Robert Guillaume, passed away on Tuesday. Fans of the TV star also know Guillaume voiced the role of Rafiki in 'The Lion King.' His character Benson DuBois made viewers across the nation laugh from 1979 to 1986. The show even won him an Emmy for outstanding lead actor in a comedy.