This paper investigates the interaction of the zero sequence component into both permanent magnet (PM) shape and phase current to improve the output torque in dual three-phase surface-mounted PM (SPM) machines. The optimal zero sequence components are analytically derived and validated by finite element (FE) analyses. It is found that the optimal zero sequence components into both PM shape and current waveform are dependent on the fundamental and zero sequence harmonic winding factors. For the dual three-phase SPM machines having rotors without shaping, Sine shape, Sine shape with the zero sequence components, the electromagnetic performances including the back electromotive force (EMF) waveform, cogging torque, average torque, and torque ripple are compared. It is demonstrated that the average torque with the optimal zero sequence component in PM shaping and current waveform can be improved by >30% while the torque ripple remains similar to that of the one with Sine shaping. Finally, the experiments are given to verify both the analytical and FE analysis.