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Robert J. Peterson, 73, of Guilford, passed away on March 10 at Yale New Haven Hospital surrounded by his wife and children. Bob was born in Detroit, Michigan, son of the late Charles R. Peterson and Catherine (Adams) Peterson.

He leaves behind his dear wife of 46 years, Susan (Johnson) Peterson. He was a loving father to Sara (husband Bobby), Beth (husband Jeff), and Adam and best grandpa to Callia and Avery, Clare and Nora, and Connor. He was brother to Susan (Peterson) Monaghan and the late Charles “Pete” Peterson and uncle to many nieces and nephews.

Bob was a proud graduate of Hillsdale College. He worked in the insurance business for 52 years, specializing in long-term disability. He enjoyed spending time with his family and taking his grandkids to the beach. He loved to be outdoors, reading the paper on the deck, doing yard work, and taking rides in his convertible. Since he was 16 years old, he always looked forward to his annual “Lost Weekend” Up North with his high school buddies. He also loved to read, eat red licorice, and take naps.

The family would like to express sincere gratitude to the doctors and nurses at Yale New Haven Hospital and Smilow Cancer Center.

In lieu of flowers, memorial contributions may be made to the Danbury Animal Welfare Society in honor of his granddog, Maggie—address Danbury Animal Welfare Society, 147 Grassy Plain Street, Bethel, CT 06801; www.daws.org

Burial services for the family will be held privately. A memorial celebration of Bob’s life will be held with family and friends in the near future.

Bob will be remembered for his kindness; he was warm and welcoming to everyone he met.

Arrangements are in the care of the Guilford Funeral Home, 115 Church Street, Guilford. To share a memory or leave condolences, visit www.guilfordfuneralhome.com.