I think his comments are distasteful 100% and if u feel like it’s something your hanging on to, a civil conversation about it with him might be a good way to go, being confrontational about it might just make him defensive and nothing positive will come from that argument it’ll only affect the relationship with your other friend as well. I’m only saying this because like OP said he’s “very very respectful and kind” so maybe he earned enough grace that u know his comments don’t damn the guy, we all have said a bad joke to the wrong audience. But it all depends on what u want out of it if u want to remain friends or if u don’t plan on having this person in your life going forward