Queiroz, who was in charge of Madrid in 2003-04, feels the two are arguably the best in the world, and believes seeing them in action is a joy to behold, even for rival coaches.
"Messi and Ronaldo are the kings of football. They're exact opposites, but our sport needs them both," Queiroz was quoted as saying on the Fifa website.
"As a coach, you don't want to come up against them, but that doesn't stop you feeling treated every time you see them."
Queiroz then went on to discuss the rivalry between Barcelona and Real Madrid, and sees them as the best teams around.
"They're two radically different entities. Barcelona have great players like [Lionel] Messi, Xavi [Hernandez] and [Andres] Iniesta, who've allowed them to collect a lot of titles in the last few years – and in style too.
"Once Real rediscovered their identity, though, they were able to dominate Barcelona, thanks also to excellent players. I think they're the best two teams around at the moment."
Barcelona currently hold an 11-point lead over Madrid in La Liga.