The France defender feels Taylor is "crazy".
Yanga-Mbiwa said: "Steven is a funny guy and he is a great footballer.
"He is someone who literally puts his body on the line.
"Seeing that for real on the pitch, like that header from the floor, it gives you a massive example."
Asked if he felt Taylor was crazy, Yanga-Mbiwa grinned: "A little - especially when he teases the keeper. But it is a great experience for defenders to keep attackers of the quality of Samuel Eto'o quiet."