“AGT”: Season 19 Kicks Off with 2 Golden Buzzers and an 'Amazing Surprise' from an Indiana Janitor“ ”of 23 Years

"I know how lucky I am. And I’m not taking any of this for granted," janitor Richard Goodall tells PEOPLE after winning Heidi Klum's Golden Buzzer on the May 28 episode

Warning: this post contains spoilers from the season 19 premiere of America's Got Talent.

America's Got Talent is back in action — and the season 19 contestants came ready to compete!

On the May 28 premiere, fans were treated to an exciting episode filled with impressive dance acts, comedians, magicians and even a 2-year-old mathematician.

But the most emotional moment came at the end of the episode when Indiana janitor Richard Goodall took the stage and ended up scoring one of judge Heidi Klum's Golden Buzzers.

"Golden Buzzer [winners] are an elite group of people. I never in a million years expected to be in that class," Richard, 55, tells PEOPLE exclusively. "And I still can’t believe Heidi did that!"

Related: America's Got Talent Gears Up for Record-Breaking Season 19 Featuring 2-Year-Old Math Whiz: See the Teaser! (Exclusive)

In his intro package, Richard — or, "Mr. Richard" as he's affectionately called by the kids at the middle school he works at — said he's from Terre Haute, Indiana and has lived there his entire life.

"I was that kid up in my bedroom with the Radio Shack stereo," he said. "My favorite thing was just to sit up and listen to my music, and I just belt it out. Eventually, I was like, I gotta find me a job. So I become [sic] a janitor at Chauncey Rose Middle School, which is only three blocks away from my house."

Richard has been working at the school for 23 years but always had a passion for singing.

"I'm not a fancy person. I take out the trash. I wipe off the tables, I sweep the floors. I'm just having fun and I'm trying to make people happy," he explained. "The kids would hear me sing and they tell me that I I've got talent. That's why I'm here, that's why I got on a plane."

"When I took off from Indianapolis, I felt that front wheel come off the ground and you have this floating [feeling], you're no longer stable. And that's what this whole experience is like right now," he continued. "It's a good off-balance but until you actually do something, you don't know if it's right for you or not."

After arriving on stage and introducing himself to Heidi and fellow judges Howie Mandel, Simon Cowell and Sofia Vergara, Richard began singing a powerful rendition of "Don't Stop Believin'" by Journey. It was a moment that took nearly everyone by surprise, especially because Richard's voice had a similar sound and pitch to that of former Journey frontman Steve Perry.

"Richard, you are my hero! Cause that was special, genuinely special. I think America is gonna love you," Simon said, as Sofía added, "That was spectacular, that was fun, this was an amazing surprise. You were perfect to come to AGT."

In true Howie fashion, he joked: "Maybe it's because you've been doing it for 23 years, but you just cleaned up! I would imagine that every kid who's ever been in a school with you is just screaming."

But it was Heidi who said Richard "knocked me off my feet" with his performance.

"We all had the best time with you up there on that stage. I really, really feel something when I see you up there and hear you up there, and now this is what I'm gonna do for you because I love you," she said before pressing her buzzer, prompting gold glitter to come falling from the ceiling.

Richard was moved to tears by the moment, later telling the cheering crowd, "I've never even been on a plane. This was not on my radar to come to California. It's just a dream come true."

Speaking to PEOPLE after winning the Golden Buzzer, Richard says the song's title was a perfect representation of his journey up until this point.

"I tried out for AGT in 2009 and didn’t make it past the first round in Chicago... But like the song says, 'Don’t stop believing!' How can I tell the kids that and not reach for dreams too?" he says. "The songs I love to sing are timeless, and they give everyone hope. That’s what I really want to do, just give people hope [and encourage them to] never give up."

As for whether he thinks he can win the whole competition, Richard says he has "no expectations" but "that definitely doesn’t mean I’m not going to give it everything I’ve got."

"I’m a normal person who does regular things for people. My singing, I have done mostly every year in our schools. Anytime they have asked me to sing I did it," he adds. "To this day, I know how lucky I am. And I’m not taking any of this for granted."

Related: America’s Got Talent Is Back — and with More Golden Buzzers for Season 19! See the First Look (Exclusive)

In addition to Richard, the May 28 premiere also saw host Terry Crews give out one of his Golden Buzzers to Zimbabwean comedian Learnmore Jonasi.

"Backstage, you were telling me that you were taking 14-hour bus trips to go perform for five minutes and then having to take 14-hour bus trips back home," he said before pushing his buzzer. "Brother, you will never have to go back home again because you are here with us!"

Speaking to PEOPLE about the moment at the AGT season 19 premiere, Crews said he couldn't "wait for the world to see" his Golden Buzzer-winning act.

"I'm so proud," he said. "It's one of the best feelings in the world knowing you're changing someone's life instantly. It's literally better than money because if you give someone that endorsement — the thing that they need to continue their dreams, not only continue it, but actually put it in front of billions of people — it's fantastic!"

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America's Got Talent airs Tuesdays at 8 p.m. ET on NBC.

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