After his death, Zamora was publicly praised by President Bill Clinton and Donna Shalala for his leadership and work in educating high school students, saying that through his appearances on The Real World, Pedro had become a part of viewers’ families, and that all people who watched the show could now say that they “knew” someone who had lived with AIDS.

MTV broadcast A Tribute to Pedro Zamora, a special memorial program, in his honor.

A street in Miami (SW 59th Street) was given the name "Pedro Zamora Way", although it is not in Hialeah, where he lived. Howard D. McMillan Middle School is located on that street where he did a presentation on HIV and AIDS. The school is located in Kendall, a suburb of Miami, Florida.

A number of organizations were created in Pedro's name, including:

    * The National Pedro Zamora Project (founded by Winick, Ling, Mily, and Sasser on October 21, 1994)
    * The Pedro Zamora Foundation
    * The National Pedro Zamora Project
    * The Pedro Zamora Memorial Fund (Sponsored by the AIDS Action Foundation)
    * The Pedro Zamora Youth Clinic
    * The Pedro Zamora Public Policy Fellowship
    * Pedro Zamora Youth HIV Clinic (Los Angeles)

Winick continued lecturing on behalf of Pedro, speaking at over 70 schools across the United States throughout 1995, before time constraints forced him to stop, but his friendship with Zamora helped shape his subsequent work as a comic book writer and artist. His autobiographical graphic novel, Pedro and Me: Friendship, Loss, and What I Learned, was published in September 2000. It was awarded and nominated for numerous awards, including six American Library Association awards, a nomination for an Eisner Award, won Winick his first GLAAD award, has been praised by creators such as Frank Miller, Neil Gaiman, and Armistead Maupin, and has been incorporated into school curricula across the country. Winick's experiences with Pedro would also help shape his work in mainstream superhero comics, which would receive considerable media attention for storylines in Green Lantern and Green Arrow which explored gay or AIDS-related themes.