MotoGP rookie Pol Espargaro hopes to one day revive his past battles with reigning champion Marc Marquez.

While Espargaro never raced against the likes of Valentino Rossi, Jorge Lorenzo or Dani Pedrosa before reaching MotoGP, he was a main rival of Marquez in both the 125cc and Moto2 World Championships.

Espargaro finished third during Marquez's 125 title season and was the current Repsol Honda rider's closest rival during Moto2 in 2012 (pictured). Espargaro then won the Moto2 championship when Marquez moved up to MotoGP last year.

"I hope to be there to fight with them someday," said Espargaro, commenting on the thrilling battle between Marquez, Rossi, Pedrosa and Lorenzo in Catalunya on Sunday. "I don't know when, but for sure that is the target of all riders in MotoGP.

"I know that okay with more or less the same bikes, and more or less the same experience, I could beat Marc sometimes in Moto2," he added. "For sure in MotoGP it will be harder because it depends much more on the bike. Everything is much different.

"In Moto2 everything was more equal and we did some good fights, good battles and I hope someday to fight with Marc again in MotoGP. I hope it will be on a Yamaha because they have given me the opportunity in MotoGP."

Marquez has now won all seven races this season, while Espargaro's highlights include a front row start and a best race finish of fourth for the Monster Yamaha Tech 3 team.

The 23-year-old Spaniard, who broke his collarbone in the final pre-season test, held on to an impressive sixth and the top satellite rider in the world championship standings despite a difficult seventh place on the low grip Catalunya circuit.

"I'm happy because I'm starting to know the bike and, when you are not fast, why you are not fast," Espargaro said of his MotoGP learning curve. "I can also explain to the mechanics what I feel and be much more precise than at the beginning.

"Where we have to improve now is with used tyres and especially in low grip conditions. In Jerez and here we had many problems, so that is the main point to improve."

Espargaro is in the first year of a two-year deal directly with Yamaha, but is set to remain at the Tech 3 team in 2015 should factory riders Rossi and Lorenzo re-sign as expected.