Robert Pierce was an illustrator and children's book author who was the art director for Sesame Street Magazine in its first few years, with his own illustrations appearing in early issues. He also illustrated the early Sesame Street book The Counting Book (1971).
Pierce transitioned to art direction on Sesame Street records, although he occasionally received credit on print products into the 1980s. However, his most notable Sesame Street contribution was the lyrics to "I Want a Monster to Be My Friend," written for the 1975 album The Sesame Street Monsters! and later used on the show itself.