Hey,
You can rewrite the given sentence in a more simplified manner using simple past,like, "I saw him yesterday". However,the more standard form of English suggests that 'the last day' should be used instead of 'yesterday'. So,you can write this sentence as "I saw him the last day".
You can also write it using past perfect,like, "I had seen him the last day".
You cannot use 'have' for an event that has already happened in the past.
Hope this helps.
Good luck.