Prince's sister thinks he predicted his own death

His death may have been ruled as an accidental overdose, but one of Prince's eight siblings thinks the rock and pop icon predicted his own death.

The singer-songwriter, whose real name was Prince Rogers Nelson, died at the age of 57 from an overdose of fentanyl, an opioid painkiller, at his Paisley Park studios in Minnesota in April 2016.

In the upcoming PEOPLE and ABC special People Icons: Gone Too Soon, the legendary musician's sister Tyka Nelson said, "About three years ago he called. He said, 'I think I've done everything I've come to do'."

"My dad and Prince always spoke in these types of riddles," she said, adding "He knew [he was going to die soon]. And he was preparing me. It's very clear."

The bereaved sister, who was "in denial" over her brother's death until August, had a message for all his fans, "He needed to go. He was tired," she says. "Instead of crying, dance. He didn't like me to cry, so I don't want them to cry either.