Bil Keane, whose daily comic of family antics had millions of Americans smiling over breakfast, died Tuesday at 89.

The popular cartoonist died in his Paradise Valley, Ariz., home of congestive heart failure, the Associated Press reported.

Keane will forever be identified for Family Circus, a cartoon that frequently mirrored his own at-home adventures. Keane’s cartoon kids — Billy, Dolly, Jeffy and PJ — were much better known than their real-life counterparts, thanks to the popularity of the cartoon, which relied more on humorous everyday occurrences than laugh-out-loud jokes.

“I would rather have the readers react with a warm smile, a tug at the heart of a lump in the throat as they recall doing the same things in their own family,” Keane said in his biography on the King Features Syndicate website.

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