But he said evidence showed they shared the same objectives as the bombers and knew that some kind of attack was being planned.
The men vehemently denied this, saying that their trip to London had been to allow one of them to see family and to take in a little tourism.
In tense courtroom scenes, each of the men in turn denounced the prosecution as politically motivated and stressed the bombers' actions had been completely un-Islamic.
The three-month trial heard that the three men had grown up in Beeston, the same tight-knit community of Leeds as three of the bombers.
The men said they shared many of their concerns about the plight of Muslims around the world.
Each of the men had spent time in training camps in Pakistan because they wanted to support Muslim fighters seeking to liberate Islamic lands.
But the jury could not decide whether or not their beliefs stretched to supporting suicide bombings or attacks of any kind against civilians or other targets in the UK.
The trial heard that in December 2004, Mr Ali, Mr Saleem and Mr Shakil had travelled to London.
Prosecutors said their movements bore a "striking similarity" to those of the 7 July bombers, who attacked three Underground stations and a bus near Kings Cross.
The men on the 2004 trip also visited the London Eye, the Natural History Museum and London Aquarium.
But the men denied having entered the London Underground, saying they had driven around the city, and said the entire case rested on partial records of where their mobile phones had connected to the network.
They accused the police and media of creating a climate of fear in the Beeston area of Leeds and said the police had been trying to make them guilty by association.
The men were arrested in 2007 amid the largest ever criminal investigation in the UK, which continues today.
Tens of thousands of police hours have been spent on the three-year-old investigation - and detectives say there are still people in the Leeds area who know more.
The trial led to the disclosure of previously unseen footage of Mohammad Sidique Khan, the 7/7 ringleader, saying goodbye to his daughter. Families and survivors of the bombings watched the videos - this is what they thought.
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