He was able to get closure in that episode.
A widely accepted theory about the "Fresh Prince" is that the show was just a metaphor for what Heaven is like, and Will actually died in the playground fight he mentions in the theme song.
Townes shot the theory down, but said he appreciated the fans who came up with it. "It’s just, that’s so far-fetched you just laugh," he said. The actor later added, "To see someone take all of that stuff and almost create a whole world around it, you’re kind of like, 'Wow, it wasn’t that deep, but that’s amazing that their brain took it there.'"
Townes also said, despite the fact that the theme song seems semi-autobiographical, the fight Smith mentions in it never actually happened. "Will Smith is just a great storyteller," said Townes.