BEIJING, Aug. 25 (Xinhua) -- Visiting South African President Jacob Zuma said in Beijing Wednesday that labeling China's engagement with Africa "new colonialism" was untruthful.

Responding to a question after giving a speech at the Renmin University of China, Zuma said he noted claims made by some countries of China's investment and economic activities in Africa.

He said the economic ties between the two sides could be traced back hundreds of years, and China had conducted trade, cooperation and assistance in Africa.

In the Ming Dynasty (1368-1644), Chinese navigator Zheng He made seven voyages to places including West Asia and East Africa between 1405 and 1433.

The development of the Sino-African relations was based on cooperation, Zuma said. African countries were willing to forge ties with friendly nations.

China and South Africa Tuesday upgraded relations to a "comprehensive strategic partnership," as Zuma and Chinese President Hu Jintao signed the Beijing Declaration after their talks.

Citing South Africa's success in hosting the 2010 World Cup football games and China's development, Zuma said it was a matter of fact that the emerging economies had enjoyed remarkable achievements.

Zuma said he hoped participants in the summit of the Group of 20 (G20) in November in the Republic of Korea (ROK) could discuss ways to promote ties between developing and developed countries, and improve the global financial system.

Later Wednesday, Zuma told a news briefing that his state visit to China was successful.

He said the highlight of his visit was the signing of the comprehensive strategic partnership declaration, which would guide South Africa's overall cooperation with China over the next 10 to 15 years.

China is the last leg of Zuma's tour of the BRIC countries -- Brazil, Russia, India and China. He will wrap up the four-day state visit to China on Thursday.