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Once again, Liverpool left it late, while Harry Kane got one over on former London rivals Chelsea. Relive all the Champions League action with ESPN.

Marcus Thuram netted a brace of headers as Inter Milan earned a 2-0 Champions League victory over Ajax at the Johan Cruyff Arena.

Liverpool captain Virgil van Dijk soared to score with a header in the second minute of stoppage time to seal a 3-2 win over Atletico Madrid.

Harry Kane scored twice as Chelsea fell to a 3-1 defeat to Bayern Munich at the Allianz Arena.

Paris Saint-Germain made a winning start in defence of their Champions League title as they outclassed Atalanta in an impressive 4-0 win at Parc des Princes.

Napoli coach Antonio Conte has sought advice from Kevin De Bruyne as his team of "students" come up against the "teachers" of Manchester City.