The Spanish great retired from tennis last year after spending much of his career battling Federer and Djokovic for the sport's top prizes and he is grateful for his two adversaries pushing him "to the limit".

Speaking at Mundo Deportivo's Gran Cala, Nadal said: "I would say Novak Djokovic and Roger Federer; it's difficult to choose.

"My career is linked to both of them, the three of us have pushed each other to be better.

"It's true that we've taken things from each other, but it's fair to say that one of us, without the other two, wouldn't have reached the numbers that the three of us have achieved."

The 22-time Grand Slam champion continued: "In some ways we have pushed ourselves to the limit in every sense.

"Physically this has harmed us quite a bit, but on a tennis and mental level it has taken us to the next level of demand and that is why we have been able to have such a long career."

The closing years of Nadal's career saw him plagued by injury problems and he has welcomed retirement as it has reduced his discomfort considerably.

The former world number one said: "At the moment I'm able to live with very little pain, and this is very important for me.

"Getting up and going down the stairs normally is a very important step in my life."

Nadal added: "I'm adapting to a new facet of my life. The last few years of my career were difficult and that helps me not miss it so much.

"I retired only three months ago, not a year ago, and I can't say it with total clarity, but at the moment I'm fine."