Bhagavad Gita stresses a few points when talking about the Caste System.
The first is not to fear death, but to welcome it. He said that all things die and are reborn many times over (reincarnation). You do reach heaven if you die a righteous death in battle. In this aspect, there are some similarities to Zoroastrianism and no Confucianism. Zoroastrianism talks about a final judgement determining weather you go to paradise or hell, and Confucianism doesn't have any after life or reincarnation, and can barely be counted as a religion in that way (more of an idealism I'd say.)
Going along with point one of not to fear death, point two suggests that when charging into battle there should be no fear, because if you live you get to enjoy earth longer, and if you die you get to go to heaven. Like the heaven of the Caste System, there is a heaven in Zoroastrianism, but it is only reached on the final day of judgement, not from succeeding in battle. There is a similarity to Confucianism in that fulfilling your duty is important.
The final point made is that people should do stuff, not for the reward of doing stuff, but because it's the right stuff do. This goes hand in hand with Confucianism, because the big picture behind Confucius's teachings was to be a good person for the sake of making the world a better place, not just for your own personal benefit. The comparison to Zoroastrianism is being good people. However, Zoroastrians have a final goal they're trying to accomplish, whereas the Caste System just says to be good for the sake of being good.
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