The Fox News host made the racist remarks in April 2008.
“It gives me a moment to pause and reflect,” the former president said about his annual tradition.
A stretch of the 134 Freeway has been renamed after the former president.
“We condemn the attempted violent attacks,” the White House says.
Service takes place Friday in Detroit, with former President Bill Clinton set to speak.
City council members approved renaming the street in a Tuesday vote.
Arizona senator died Saturday at age 81, after battling brain cancer.
“They liked having the first African-American president,” Clinton said.