Nelson Mandela tributes

A giant portrait of late South African President Nelson Mandela hangs on the facade of the French Foreign Ministry in Paris. Flags lowered to half-staff, days of mourning and other tributes to the anti-apartheid fighter, who died Thursday at his home in a Johannesburg suburb, have poured out from every corner of the world. (Joel Saget / AFP/Getty Images / December 6, 2013)

From European royal palaces to impoverished African townships, anti-apartheid hero Nelson Mandela was remembered Friday for his tireless fight against injustice and racism and celebrated for the better world he left behind.

Former South African President Frederik W. de Klerk, with whom Mandela negotiated an end to the brutal racist regime in his homeland, recalled the man who succeeded him as head of state as "a force for reconciliation and social justice" to the end.

"It was an honor for me to have been able to work with Mr. Mandela in the process that led to the adoption of the interim constitution and our first democratic elections in April 1994," De Klerk said in a statement of condolence.

"Although we were political opponents, and although our relationship was often stormy, we were always able to come together at critical moments to resolve the many crises that arose during the negotiation process."

Despite Mandela's death Thursday, the last white leader of South Africa declared himself confident that Mandela's legacy "will continue to inspire all South Africans to achieve his vision of non-racialism, justice, human dignity and equality for all."

PHOTOS: Nelson Mandela through the years

In Soweto township, where Mandela lived during his years as an African National Congress militant, tearful residents gathered outside his former home, many sporting the ANC black, green and gold colors, to vent their sorrow and gratitude to the man who liberated them from the institutionalized racism of apartheid.

"If we can just strive to be half the person he was, with his humble forgiving soul, then I think this country would be a lot better," said mourner Annelice Govender.

Buckingham Palace issued a statement Friday saying that Queen Elizabeth II was "deeply saddened" to learn of Mandela's death.

"He worked tirelessly for the good of his country, and his legacy is the peaceful South Africa we see today," the British royal household said.

"Her Majesty remembers with great warmth her meetings with Mr. Mandela and sends her sincere condolences to his family and the people of South Africa at this very sad time."

FULL COVERAGE: Anti-apartheid icon Nelson Mandela dies

Elizabeth's grandson Prince William learned of Mandela's passing after attending a film screening in London.

"We were just reminded what an extraordinary and inspiring man Nelson Mandela was," William, his wife, Catherine, by his side, told the BBC after leaving the cinema.

Another British subject, former England national soccer team captain David Beckham, recalled Mandela as "a true gentleman and a courageous human being."

"It was truly an honor to have known a man who had genuine love for so many people. Rest in peace," said Beckham, who met Mandela in 2003 during a friendly match between England and South Africa.

Olympic champion runner Usain Bolt hailed Mandela as "one of the greatest human beings ever" and the "world's greatest fighter."

PHOTOS: The world reacts to Nelson Mandela's death

Tributes to Mandela poured in from all corners of the world.

From Tehran, Iranian President Hassan Rouhani sent condolences to South Africa and praised Mandela as someone who "believed undoubtedly in freedom and equality for all human beings, not only in South Africa but across the world."

Iranian Foreign Minister Mohammad Javad Zarif added in condolences posted on his Facebook page that Mandela was "a role model for freedom-seeking revolutionaries" who succeeded not only in defeating apartheid but also in resisting the temptations of "power, anger, hatred, violence and revenge."