Moore led the Three Lions to their only World Cup victory in the 1966 edition of the tournament, defeating Beckenbauer's West Germany 4-2 in the final at Wembley.
And, in a special interview conducted by West Ham United to commemorate the 20th anniversary of their former skipper's death, the 67-year-old has spoke highly of Moore.
|THE LEGACY OF BOBBY MOORE
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"He was an exceptionally gifted player and a true leader on the field, because he was a personality with charisma and he was able to motivate his team mates.
"His particular strength was his intuition. Thus he had an incredible positional play."
The former Bayern Munich star also recalled being asked to speak at Moore's memorial service following his death from cancer in 1993 at the age of 51.
"After Bobby's death, I experienced one of the most touching moments of my life. His memorial service was held at Westminster Abbey. Every seat was occupied and everybody of distinction was present," he added.
"I was asked to read from the Bible during the funeral ceremony in the pulpit. I was terribly humbled - it was a great honour to say 'Goodbye' to Bobby in this way."