Afonso grew more cautious of Portuguese influence in his later reign, but relations between Kongo and Portugal remained close, with both kingdoms collaborating in war and trade. Keenly interested in diplomacy, Afonso sent Kongolese embassies to Lisbon, Rome, and wrote correspondence with political and religious leaders in Europe. He was succeeded by his son, Pedro I, in either 1542 or 1543.

Afonso is remembered for increasing the power of the Kongolese monarchy, his efforts to convert Kongo to