In his birthday massage to the former president, Zuma committed to continue where Madiba left off.
"We will continue the long walk to confront poverty, unemployment and inequality," said Zuma in his recorded message.
The President also urged people to personally contribute by doing good deeds as called upon by Madiba, to make our country and the world a better place for all.
"Happy Birthday Madiba. The whole nation loves you dearly," added Zuma.
Other ordinary people opted to send their messages via social media networks. Many honoured the icon by posting his famous quotations, while others thanked him for his sacrifice for the country and the world.
Others reminded him how much he is loved before wishing him good health.
The old man is spending his day with close family in his village home of Qunu in the Eastern Cape.
Thousands of South Africans headed the call to perform 67 minutes of public service in honour of Mandela.
Various organisations and ordinary people rolled up their sleeves across the country to help the needy and change the world for the better.