Lenny Kravitz Says It Feels 'Surreal' to Have a Star on the Hollywood Walk of Fame (Exclusive)

Lenny Kravitz has earned his star!

The singer and actor, 59, was honored with a Hollywood Walk of Fame star on Tuesday at a ceremony with loved ones by his side.

Zoë Kravitz, his daughter, and Denzel Washington, a longtime friend, each gave speeches at the event — and the "Fly Away" singer was soaking in the moment.

"It's an incredible honor to be on this street. To be with all of these great people that have done incredible things with their lives is an honor," Kravitz tells PEOPLE exclusively at the ceremony.

"I never thought about it. Like I said, when I was a kid, I was walking up and down these streets but I was pretty much always thinking about where I was gong to sleep that night," he continues. "To have it now just feels so surreal and I'm really grateful."

In addition to Zoë and Washington, stars like Marla Gibbs, Channing Tatum and Verdine White were in attendance and showed their support.

"It means everything," he says of being surrounded by loved ones at the ceremony. "The star is a beautiful thing but if I didn't have the people to share it with, it wouldn't be the same."

He adds, "To have so many people here that have known me all of my life and who have walked the journey with me is the real gift."

Kravitz is currently gearing up to release his 12th studio album, Electric Blue Light, which will drop on May 24. He shared the upcoming album's lead single “TK421” in October of last year along with its internet-breaking music video.

Speaking to PEOPLE for a cover story in January, the legendary rocker reflected on his career — and his early days trying to make it as a Black artist.

"I was told my music wasn’t Black enough or wasn't white enough," Kravitz said, noting that record labels "said I had to make a choice, but I never did."

"I was told that I need to make the music that Black people commercially are making that's on the radio, so you'll have success. And I just could never get with any of that. I was going to make the music that I made," he continued.

"It's sort of amazing to me that I could be where I am now and feel fresh and hungry," Kravitz shared. "This is who God created me to be. I'm just trying to walk in that destiny."

The "American Woman" performer is also nominated for this year's Rock and Roll Hall of Fame class alongside Mary J. Blige, Mariah Carey, Cher, Dave Matthews Band, Eric B. & Rakim, Foreigner, Peter Frampton, Jane’s Addiction, Kool & the Gang, Oasis, Sinead O’Connor, Ozzy Osbourne, Sade and A Tribe Called Quest.