Ayrton Senna - who died aged 34 when he crashed his Williams during the 1994 San Marino Grand Prix - has been remembered 20 years on from that fatal crash.

The Brazilian race legend was going at over 190mph when he struck the Tamburello corner of the Imola circuit, just one day after fellow driver Roland Ratzenberger also died at the circuit, after suffering a crash in qualifying.

People from around the motorsport world - and from outside it - have been at haste to pour out their messages of remembrance for the former three-time World Drivers' Champion, with drivers past and present speaking of his immense quality and superstar aura.

Senna won 42 races, achieved 65 pole positions and raced like a champion for all of his 10-year career, that surely would have lasted longer if not for the tragic events of 1st May 1994.

The whole mystique around his career, his personality and his death only serves to ensure his legend will live on forever.

David Brabham, former Simtek driver: When Ayrton drove, we were in awe, when he spoke, we listened, commitment like no other, he was simply the best. #AyrtonSenna

Williams Team Racing, Senna's team at San Marino: Today we remember a racing legend.....20 years on and still in our thoughts #RememberSenna #NeverForgotten

Lotus driver Romain Grosjean: 1st May 2014, 14h18, 20 years ago we lost Ayrton Senna. One of the greatest drivers ever! #RememberSenna #Senna

McLaren Racing, one of Senna's former teams: Your Senna memories on show at #MTC today. Tweet your #RememberSenna messages to add your tribute live on the screen.

The legacy Senna's death left includes a safety-first outlook on the sport altogether, and a far more risk-costless environment for car and drivers.

Austrian Ratzenberger also died over the same race weekend in 1994, and is too remembered for the tragedy of his crash in qualifying at Imola, with his former Simtek partner David Brabham claiming "he didn't have a bad bone in his body."

It would be easy to label Ratzenberger the "forgotten man" of that weekend due to the emphasis on cherishing Senna's life and career, but his old team-mate Brabham disagrees.

He said: "There's looking at it that way or the other way, which I prefer.

"Would we still be talking about Roland 20 years on if only Roland had died? The fact he died on the same weekend as Senna means he will always be remembered."

"He was very charming and had a fun side - everyone liked him. Roland probably died happy because he was in Formula 1 - he had a smile on his face that day and that is the last memory I have of him."

Ferrari driver Fernando Alonso, remembering Ratzenberger and Senna: Imola.... Roland Ratzenberger, Ayrton Senna, and that sad and terrible GP 20 years ago. Current safety in F1 is also their legacy #heroes

Byron Young, Daily Mirror F1 correspondent: RIP Roland #Ratzenberger. Gone before you got the chance to show what you could do. Gone but not forgotten. #imola94 #f1

Both drivers may have had their lives and careers cut tragically short, but the memories of Senna's legendary rivalries with Frenchman Alain Prost and British racer Nigel Mansell will live forever.

Meanwhile Ratzenberger will be fondly remembered as a supreme talent that could have been, but was cruelly never allowed to blossom.