A letter written by Sotloff was read aloud during the service. The letter was smuggled out while he was in captivity before his death.
"Everyone has two lives. A second one begins when you realize you only have one," Sotloff's letter said in part. "Hug each other every day. Please know I am OK. Live your lives to the fullest and pray to be happy."
The public service for the Florida journalist was held at Temple Beth Am in Pinecrest, outside Miami.
Among attendees were Florida Gov. Rick Scott, U.S. Sen. Marco Rubio and former Florida Gov. Charlie Crist.