Inside Cicely Tyson’s Complicated Love Story with Jazz Icon Miles Davis: 'I Loved Him and He Loved Me'

Beyond Cicely Tyson's groundbreaking career achievements, the actress also had a love that was larger than life.

Before her death on Thursday at the age of 96, Tyson was busy promoting her new memoir, Just As I Am, in which she details her decades-long off-and-on romance with the man she called the love of her life, jazz legend Miles Davis.

After the two began dating in 1966, the pair "got closer and closer," going through the ups and downs of breaking up, reconnecting, marrying and divorcing over the course of 22 years, she recounted to PEOPLE in this week's issue.

Married for seven years from 1981 to 1988, Tyson said Davis "was always cracking jokes."

"We had lots of fun," she told PEOPLE.

While there were times of joy and happiness, there were also difficult periods in their relationship, with Tyson writing in her memoir that Davis was unfaithful to her.

But until his death in 1991, "I loved him and he loved me… Of that fact, I am certain," said Tyson. 

The Sounder star also spoke about Davis in her last interview with Gayle King, which the CBS This Morning co-host shared a video of on Instagram Thursday night.

"Listen, people who hurt, it's always the person that is closest to them that they hurt," Tyson told King. "I was in love with him."

She added, "He was a beautiful human being."

Tyson recalled Davis' last words before his death: "[He said,] 'Tell Cicely I'm sorry,'"

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