Marc Marquez's MotoGP form forced Yamaha to react for 2015

Marquez began his MotoGP career with two title wins, and absolutely dominated the 2014 campaign - winning the first 10 straight grands prix - but was only third in this year's standings as the Yamaha team-mates had a private title battle.

Though the 2015 Honda package proved less amenable to Marquez's aggressive riding style, Jarvis also reckons Rossi and Lorenzo came into the year better prepared after being shellshocked by their younger rival's form the previous year.

"One of the things that impressed me was how both our riders approached this season," said Jarvis.

"Marquez hammered us at the beginning of last year.

"That caused a reaction both on the technical side, with our engineers developing a lot of new solutions, and our riders understanding that to win against Marquez they had to be very focused, very trained and very dedicated.

"That's what we've seen from both our riders. They started the season on a mission."

With Marquez likely to come back stronger from his 2015 experience, Jarvis believes the coming year will be tougher still.

"It's going to be very difficult and intense competition next year," he said.

"In the past when we had Valentino and Jorge together we won three triple crowns in a row.

"It wasn't easy but we managed to do that.

"We have the best team and best engineers in the world and we'll try very, very hard to do it again next year."