TobyMac's New Album Represents the 'Next Phase' After Son Truett, 21, Died in 2019: 'I Can Breathe Again' (Exclusive)

Over five years after TobyMac's son, Truett, died at age 21, the singer wrote an album about finding his footing — and allowing himself to experience joy again.

On Friday, March 7, the singer-songwriter released his latest studio album, Heaven on My Mind. The 12-track album follows his 2022 album Life After Death, where he navigated immense grief.

With Heaven on My Mind, TobyMac captured "the next phase of that." (In 2022, the "Faithfully" singer told PEOPLE he was "a different man" after the death of his son.)

"It's walking through this and getting to a point where you can breathe again and live again," TobyMac, 60, tells PEOPLE exclusively. "And still grieving deeply, but gaining a footing to where you can throw your fist up in the air and say, 'I'm going to live. I'm going to live to honor God... and to believe, but also to honor my son.'"

Truett, an aspiring rapper, died of an accidental drug overdose in October 2019. TobyMac (real name Kevin Michael McKeehan) also shares his twins Moses and Marlee, 22, and sons Leo, 20, and Judah, 18, with his college sweetheart Amanda.

After the release of Life After Death, it took TobyMac some time to get back to the studio and find a source for inspiration. Over the course of that time, he leaned on his faith and established "trust" in God. "My faith has been rejuvenated because of it," he says, adding that the "joy tends to come back."

In the title track, TobyMac looks forward to his transition to heaven — but assures that he doesn't want to take any moment for granted.

"My life isn't bad down here. I have beautiful children, a beautiful wife, I'm so blessed. We have a beautiful house... But for some reason lately, I've had heaven on my mind a little bit more," he says. "And I think I know the reason, there's people I love, that I believe are there, and they're waiting."

Adding, "It's not like I'm standing around just thinking about eternity or heaven. I feel like I'm here and I want to live every day with purpose. I'm here for a reason. I don't want to miss what's in front of me."

Still, grief is not linear — and TobyMac found that his wife, kids and songwriting help ease the pain when it comes knocking.

"I have four children, and two are in San Diego right now in college, one's home, and then one lives about an hour from us," he says, adding that he's "super proud" of his kids.

"And then my wife, of course, she's everything to me completely. I couldn't be who I am without her. I'm sure she would say the same. We absolutely adore each other," he continues. "I love songwriting. It's become one of the really important thing to me, as far as just getting my feelings out."

Reflecting on Truett, TobyMac says his son was "absolute life" and "the biggest personality in our family."

"He was always grateful to us, always saw us, never discounted us," he recalls. "I'm so grateful for that. There wasn't a distant relationship. Sure, we had rubs, he was a wild child... God loves the wild ones. And I believe that with all my heart."

Heaven on My Mind is out now.