Zuma's government has denied the Tibetan spiritual leader the Dalai Lama several visas in recent years and maintains a strongly pro-China foreign policy, while Beijing has expanded its footprint to become the biggest trading partner of South Africa and the African continent.
"The emergence of China as a power among others gives or offers an opportunity to African countries to be able to free themselves from the shackles that are really colonially designed," Zuma told an audience of students at Tsinghua University in Beijing.
But "the relationship between China and African countries, particularly South Africa, is different", he said.
"We relate as brothers and sisters to do business together, not because one is a poor cousin."
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The ANC leader was in Beijing on an official visit -- on the anniversary of Nelson Mandela's death -- during which he has been hailed by China's President Xi Jinping as a "good friend".
Beijing has also come under fire for dealing with regimes with little regard for their human rights records.