Photo:Paul Archuleta/Getty, Tiffany Rose/WireImage

Bobby Brown Says Late Daughter Bobbi Kristina, Shared With Whitney Houston, Is ‘Always Present’ via: our exclusive with him last night at the “A World of Good Gala."

Paul Archuleta/Getty, Tiffany Rose/WireImage

The “My Prerogative” singer, 54, who was honored for his work with theBobbi Kristina Serenity House Foundationat the A World of Good Gala on Friday night, told PEOPLE exclusively what it meant to be given that recognition.

Brown founded the non-profit for domestic violence in his daughter’s name after hersudden death in 2015. When asked if it was meaningful that he was able to do so much good work in her name, he said, “Yes, it is.”

Brown added that his daughter is “always present” with him, and even showed a pendant he was wearing with a picture of him and Bobbi Kristina together. “She’s always going to be present,” he repeated.

Bobby Brown Says Late Daughter Bobbi Kristina, Shared With Whitney Houston, Is ‘Always Present’ via: our exclusive with him last night at the “A World of Good Gala."

Paul Archuleta/Getty

“I am grateful forIn a Perfect World. Thank you so much for this honor,” he said. “We started this from the bottom of my heart, just being lonely and sad.”

“[I’m grateful] that I could do something to help them out, to be there for them, to give them a safe haven in their time of need,” Brown added of his efforts in the organization. “Like I said, I’m very grateful for this. I thank you so much.”

Bobbi Kristina was born on March 4, 1993, and was Brown’s only child with ex-wifeWhitney Houston.

On Jan. 31, 2015, at the age of 22, Bobbi Kristina wasfound unresponsivein a bathtub in the Georgia home she shared with exNick Gordon– an eerie parallel tothe way her mother had died several years earlier.

She laterdiedin hospice on July 26, 2015.

The Fulton County Medical Examiner revealed that she died from a combination ofdrowning and drug intoxication. A toxicology report found marijuana, alcohol, “a cocaine-related substance,” sedative and anti-anxiety medications and morphine in her system.

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After her death, Brown released a statement saying, “Krissy was and is an angel. I am completely numb at this time. My family must find a way to live with her in spirit and honor her memory. Our loss is unimaginable.”

source: people.com