Chopra, who was born in Lahore in 1932, directed Shah Rukh in "Darr", "Dil To Pagal Hai", "Veer-Zaara" and "Jab Tak Hai Jaan" (2012), which marked their last collaboration.
Shah Rukh, 49, shared on Twitter a photo collage of him and the filmmaker, showing their candid moments over the years.
"My all time favourite director friend family & basically the coolest youngster I ever knew... Happy B'Day Yashji & miss you," he captioned the picture.
Chopra, who had helmed as many as 18 films before the 1993 hit, directed only three other films post that, all starring Shah Rukh in the lead.
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