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The parents of two Australian brothers killed in Mexico during a suspected carjacking have said "the world has become a darker place for us".

In an emotional statement, Debra and Martin Robinson said their sons Callum, 33, and Jake, 30, had been "young men enjoying their passion" for surfing.

They also mourned the loss of their sons' friend, American Jack Carter Rhoad, 30.

A Mexican man is expected to be charged with the three murders.

He has already been charged with "forced disappearance" in relation to the alleged attack.

Another man and a woman have been detained for their suspected involvement. They have not yet been charged.

The three friends had disappeared on 27 April while on a surfing and camping trip near Ensenada, sparking a desperate search over several days.

It ended when their bodies were found dumped in a cliffside well on Friday. Each man had been killed by a gunshot to the head, according to local authorities.

Baja California state officials have said the three tourists were likely murdered while trying to stop the theft of the tyres of their pickup truck. A fourth body was also found in the well but had been there longer and was unconnected to the case, they added.

After travelling from Perth to identify her sons' bodies in Mexico, Mrs Robinson said: "Now it's time to bring them home to family and friends and the ocean waves in Australia."

Fighting back tears, she spoke about her family's pride at the lives Callum and Jake had built.

Callum had been living in the US, chasing his dream of becoming a professional lacrosse player, but always found time to coach junior teams, she said.

"[He] was a lovable, larger-than-life character... known as the big koala."

And Jake - a doctor - was "a happy, gentle and compassionate soul".

"Jake's passion was surfing and it was no coincidence that many of the hospitals that he worked in were close to surfing beaches," she added.

The couple also thanked everyone who had supported the family since their sons went missing, including friends and consular officials.

"We know that they were truly loved and impacted many people's lives," Mrs Robinson said.

"Please live bigger, shine brighter and love harder in their memory."