Hamilton and Rosberg enjoyed a fascinating rivalry during their time in Formula One together.
The two men have won the last four F1 Drivers Championships with Hamilton clocking up the fourth win of his career last month.
Rosberg called time on his career in 2016 shortly after scooping the prize.
And F1 legend and Mercedes chairman Lauda has claimed the two men did genuinely not get along, rather than being merely competitive.
"Hamilton and [Valtteri] Bottas are not friends," F1 legend Niki Lauda told La Gazzetta dello Sport.
"But there is no hate, as there was between Lewis and Nico.
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“It was bad for the team but not for them, because it pushed them to go faster."
Lauda also shed some more light on the duo’s turbulent relationship last month.
"They had no relation, which is always bad," he said.
"They were so bad that they didn't even say hello in the morning.
“I don't expect them to have breakfast together if they don't like each other, I don't expect them to sit down and have breakfast, but the relationship was really bad.
“It affected Lewis mainly and Nico [as well], so it was fine but not easy."
Lewis Hamilton and Nico Rosberg had a hateful relationship, says Niki Lauda
Meanwhile, Rosberg recently admitted he would wind up Hamilton as a tactic.
"In the summer break last year I decided to stop cycling because the leg muscles are among the heaviest things on your body,” the German said.
“I lost 1kg as a result that August. We came back, and three races later it was the Japanese Grand Prix.
"One kilo of body weight is 0.04 of a second per lap when the car is at the weight limit. I was on pole at Suzuka by 0.03 seconds.
“My smaller leg muscles got me on pole, and that messed with Lewis's head, so he messed up the start.
“I finished first, he finished third, and I had the points lead that I needed to be able to cruise home with second places."