Tilley and her friend, 19-year-old Beth Shivers, were killed when their car crashed into a tree along Buckhorn Road in Efland last Saturday.
"Samantha loved Beth," said Susan Tilley, Samantha's mother. "Whether they were blood sisters or not, didn't matter. Whether you were blood or not, that's the way they were."
Tilley's parents said their daughter was a compassionate, kind person, She was always working to help others.
"To me and her daddy, she was our princess," said Susan. "She was always our princess. But we'll carry on the work that she did."
Family members said Samantha had an open heart.
"She loved us to death," said Samantha's cousin, Haley Davidson. "She just loved everyone that she came upon."
"If she didn't know someone in the hallway that looked down, she'd say hi or talk to them and ask them why were they down and try to help them," said another cousin, Ashley Harris.
Samantha's friends said they want her remembered by her smile.
Beth Shivers' memorial service will be held Thursday.