Retired Formula One champion Nico Rosberg said his world title was made sweeter by the fact that he upstaged team-mate Lewis Hamilton.

Rosberg announced his shock retirement from F1 earlier this month, just days after winning his maiden drivers' championship with Mercedes.

The 31-year-old German dethroned three-time world champion Hamilton in a thrilling end to the campaign, which went down to the season-ending Abu Dhabi Grand Prix.

Reflecting on his victorious season, Rosberg told BBC Sport: "Beating Lewis makes it all the more special for me because he is one of the best out there, a great rival and a very, very tough competitor.

"So it sweetens it just that little bit more."

Rosberg and Hamilton - friends as teenagers on the karting circuit - endured a strained relationship over their battle for supremacy in F1 but the former said: "We had a few nice conversations since my retirement. There were some kind words from him.

"Who knows, in the future, we might get on well again."

As for his retirement, Rosberg insisted there is no turning back after 11 years in the sport and 206 grand prixs.

"For sure, it is definite," he said. "It is not an easy step. It is a big change, but it feels right."