The former U.S. president made his remarks during a roundtable discussion with the Obama Foundation's My Brother's Keeper Alliance, which supports young men of colour, on the evening of June 3.
"I want you to know that you matter. I want you to know that your lives matter, that your dreams matter," he said. "You should be able to learn and make mistakes, and live a life of joy without having to worry about what's going to happen when you walk to the store or go for a jog or are driving down the street or are looking at some birds in a park."
The 58-year-old again addressed the deaths of George and many other Black Americans.
"It will take all of us working together to ensure we can reimagine policing," the Obama Foundation wrote when it shared a clip on Instagram.
"In a lot of ways, what has happened in the last several weeks is that challenges and structural problems here in the United States have been thrown into high relief," he said. "They are the outcome of not just an immediate moment in time, but as the result of a long host of things – slavery, Jim Crow, redlining and institutional racism."
America's first Black president also encouraged people to continue to listen and learn and advocate for change.
This is the second time Barack has spoken out following George's death. Earlier this week, he wrote an essay for Medium in which he said demonstrating and voting can play a dual role in change.