Zuma was speaking on the occasion of the inauguration of the new president of the Republic of Burundi, Domitien Ndayizeye, on Wednesday.
He singled out for praise "two outstanding statesmen who had driven this peace process at different periods, (former Tanzanian president) Mwalimu Nyerere and Mandela.
He saluted Mandela, who spent countless hours working towards the conclusion of the Arusha Peace and Reconciliation Agreement of the year 2000, on which the Burundian leadership changeover was based.
"We salute you, Madiba, for never failing to respond when the continent needs you, especially where it has to do with achieving peace and reconciliation.
"This ceremony is a tribute to you and your sound leadership, patience and your dedication to the cause of working for a better continent and better world."
To Buyoya, Zuma said: "You have, Your Excellency, demonstrated to the whole world that you are willing to put the interests of your country above those of your own. This has laid a solid foundation for the second phase of the transitional period."
He said much had been achieved in the last 18 months due to "your courageous leadership, including the signing of the cease-fire agreements, the passing of crucial transitional legislation and generally establishing the right foundation for the transition.
Congratulating Ndayizeye, Zuma said: "The next 18 months are going to be critical for moving the peace process forward, eventually leading to national elections. You have fortunately been part of the transitional process, and are fully aware of the programme of action.
"Many crucial tasks still remain, such as the reform of the security forces and the implementation of various aspects of the cease-fire agreements."
The deputy president wished Ndayizeye and the deputy president Kadege "all the best as you work together to restore stability."
"We also acknowledge the positive role of the international community, particularly the United Nations and the African Union..."
"I must also thank the Burundian political parties, which have continued to co-operate and work together, despite differences, since the signing of the Arusha agreement."
He said they had made the transitional institutions function well and ensured the implementation of the leadership changeover.
He called upon all signatories to respect the agreements they signed, and vigorously participate in implementing them and refrain from violations, especially given the deployment of the African Union Mission peacekeeping force.
"I must emphasise that South Africa will continue to provide unwavering support to the process, as part of the collective African objective of eradicating all conflicts in the continent.
Zuma's delegation includes defence minister Mosioua Lekota and intelligent services minister Lindiwe Sisulu.
Former president Mandela, the interim chairman of the African Union Commission, Amara Essy, and Western Cape premier Marthinus van Schalkwyk were among those present at the inauguration - Sapa
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