"To be human is to be many things at once, strong and vulnerable, courageous and afraid", he said.
Dogg, a former label mate and friend of Shakur, says he was at Friday night's ceremony at the Barclays Center in Brooklyn to make sure the rapper, actor and poet is remembered as a "strong black man that stood for his".
He said: "The day Led Zeppelin gets put into the Hip Hop Hall of Fame is the day I will personally accept rap artists as being brought into the Rock and Roll Hall of Fame. We were both born in 1971".
Shakur was killed at the age of 25 in a still unsolved drive-by shooting in Las Vegas in September 1996.
That led Snoop to tell a amusing story he'd never told before, about a time when he and Shakur went parasailing together during the peak of their careers, with Suge Knight driving the boat.
Son Heung-min helps Spurs crush Watford to close in on Chelsea
The blues, however, could increase the gap back to seven points later today as they play Bournemouth in the late kick-off. And now [we try] to be focused and try to be ready next week against Bournemouth here again, and we'll see what happens.
Pac joined the Hall alongside ELO, Journey, Joan Baez, Nile Rodgers of Chic, Pearl Jam, and Yes.
"Really can't believe that it's been 21 years since we actually got to hear from 2pac", Snoop said.
The two rappers became fast friends in 1993, when they first met at a wrap party for Shakur's movie with Janet Jackson, "Poetic Justice". Before the show, Snoop caught up with Rolling Stone to talk about Tupac's continuing influence on hip-hop and the significance of letting rappers into the Rock and Roll Hall of Fame. "Snoop Dogg and Tupac parasailed with Suge Knight driving the boat!" he marveled.
During the ceremony, Alicia Keys also honored the late West Coast legend with a medley of his tracks that included "I Ain't Mad at Cha" and "Ambitionz As a Ridah". "Let us build a great bridge, a attractive bridge, to welcome the exhausted and the poor", Baez told the Hall of Fame audience.