ET spoke with DJ Cassidy, Khloe Kardashian, and Adrienne Bailon Wednesday night in New York and the stars shared their thoughts on Tuesday's public memorial for the late Michael Jackson.

Khloe Kardashian tells ET that she went to the memorial with her family who was very close with the Jacksons, and that she was amazed and moved by Paris-Michael Katherine Jackson's heartfelt message to her father.

"Michael Jackson was an amazing man regardless of what people perceived him," Khloe says. "His family and kids definitely know what an amazing man and father he is, she felt the need to proclaim that and tell people he was a great father. For an 11-year-old to have to be so well adjusted and to be able to want to do that… My dad died when I was 19 or 20 and I couldn't talk to an individual at his funeral let alone give a speech. That's an amazing accomplishment, and she was definitely raised right to be able to do that and want to do that."

Adrienne Bailon also weighed in on Michael's kids and the late King of Pop.

"For me, it just put everything in perspective," she says. "To us he's an icon, that was just her dad. You cannot top that. There will never be anyone else like him, ever."

ET caught up with the celebs at the New York Public Library on Wednesday night where they gathered celebrate DJ Cassidy's birthday -- watch the video to hear more from the stars.