Doc Louallen / ABC News: Bill Cosby speaks to ABC News about late co-star Malcolm-Jamal Warner - Cosby said he and Warner stayed close after "The Cosby Show" days. - Malcolm-Jamal Warner as Theodore 'Theo' Huxtable, Bill Cosby as Dr. Heathcliff 'Cliff' Huxtable. - Bill Cosby shared heartfelt memories of his on-screen son ...