In this article we establish the notion of classical Yangian symmetry for planar N = 4 supersymmetric Yang-Mills theory and for related planar gauge theories. After revisiting Yangian invariance for the equations of motion, we describe how the bi-local generators act on the action of the model such that the latter becomes exactly invariant. In particular, we elaborate on the relevance of the planar limit and how to act nonlinearly with bi-local generators on the cyclic action. arXiv:1803.06310v2 [hep-th] 10 Aug 2018When making the fields explicit, the first statement reads(4.10)Using cyclicity of the trace, we may as well write this even more concisely as J [0],1 S [2] 0 where the symbol ' ' denotes equality up to cyclic permutations. The cubic relationship following from superconformal symmetry reads 1 3 J [0],1 S [3] + 1 3 J [0],2 S [3] + 1 3 J [0],3 S [3] + 1 2 J [1],1 S [2] + 1 2 J [1],2 S [2] 0. (4.11) This relationship can be rewritten in two alternative ways using cyclicity: Collecting terms we arrive at the simpler form J [0],1 S [3] + J [1],1 S [2] 0. However, we can also write the relationship in a manifestly cyclic fashion as 1 3 J [0]