Yamal, at the Laureus Awards, discussed his relationship with the former Barca captain.
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"When you realise that an athlete is not just a legend in his own sport but in all others, it's because he's the best," said Yamal.
"Messi is an example . He's the best footballer in history and also the best athlete.
"For me, he's not just any idol."
Yamal added: "The whole world respects him for everything he's done, for the example he's set, and I hope to follow in his footsteps."