The presidents of the EU‘s three major institutions have heralded Brexit Day with an apparent warning to the UK: “every choice has its consequences”.

European Commission president Ursula von der Leyen, European Council leader Charles Michel and European Parliament president David Sassoli expressed hope for strong future ties with Britain in an open letter.

But they issued a stern reminder that the block would not allow the UK to cherry pick how an ongoing relationship works.

“Without being a member, you cannot retain the benefits of membership,” they wrote.

The letter, published in newspapers across the continent, comes on the day the UK will finally leave the EU at 11pm.

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It added: “Without the free movement of people, there can be no free movement of capital, goods and services. Without a level playing field on environment, labour, taxation and state aid, there cannot be the highest quality access to the single market.”

The three presidents said they had “always deeply regretted” the UK’s decision to leave, and that they shared a fondness for the UK “which goes far beyond membership of our union”.

“For us,” they wrote, “today will inevitably be a day of reflection and mixed emotions — as it will for so many.

“Our thoughts are with all of those who have helped to make the EU what it is today.

“Those who are concerned about their future or disappointed to see the UK leave.

“Those British members of our institutions who helped to shape policies that made lives better for millions of Europeans.

“We will think of the UK and its people, their creativity, ingenuity, culture, and traditions, that have been a vital part of our union’s tapestry.”

Ms von der Leyen, Mr Michel and Mr Sassoli said their institutions would still work with the UK on foreign affairs, security and defence with “a common purpose and shared mutual interests” but that “we will do it in different ways”.