The Romans and Greeks considered themselves superior to other peoples (Gauls, Macedonians) and also admired great civilizations (Egypt, Persia). Did Africans living in African empires and kingdoms consider themselves superior to others or were they aware they were not as advanced as other non-African civilizations?
they were not as advanced as other non-African civilizations
I just wanted to point out that Africa was not as underdeveloped as we often assume. See here.