Valentino Rossi: Jorge Lorenzo one of my greatest MotoGP rivals

Lorenzo called time on his glittering grand prix career on Thursday afternoon at Valencia in a special press conference.

Rossi spent seven years as team-mate to Lorenzo, with the pair engaging in a heated rivalry in their two stints together on the factory YZR-M1s.

Such was the intensity of their rivalry that Rossi ordered a wall to be erected in the Yamaha garage in 2008 to stop secrets swapping hands between his crew and that of his then-rookie team-mate.

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Rossi described Lorenzo as "one of the most important MotoGP riders in the modern era" and believes they had "some of the best races" together.

"I think we lose a very important part of our sport," said Rossi of Lorenzo's departure.

"He is a great champion, he impressed me a lot of times for his speed and concentration.

"From when he arrived in MotoGP, he was always strong, from 2008, so more than 10 years.

"We were team-mates for a long time, a lot of years together we shared the same box and I think he's, personally, one of the greatest rivals of my career.

"We did some of the best races together that I remember in my history, so it's a great shame that he's finished."

Marc Marquez says his Honda team-mate's decision to step down showed he is a "true champion", and admits he and the team were surprised by the announcement.

"Of course, it was a surprise even for his team-mate," Marquez said when asked to give his thoughts on Lorenzo's retirement.

"In the team, we didn't know and it was a surprise.

"Especially the way he working in the box - the results could have been better or worse - but the way he worked was exactly the same as his first day in Honda.

"Just an hour ago I was with him in his truck to say congrats, obviously for his career, but especially the way he took the decision.

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"This is something that means a lot. He is a real champion. The moment he feels he can't be in the top places he decided to stop.

"A strong character on and off the track, and a real champion. I want to say congrats to him and wish him the best for the future."