Food delivery riders and the Transport Workers' Union have held a vigil and laid flowers in memory of the five riders killed on the roads in the last two months.
Riders and the TWU called for reform in the sector to give riders protections they need.
The vigil follows the deaths of Uber Eats riders Bijoy Paul at Rockdale on Saturday and an as yet unnamed rider at Redfern on Monday.
Xiaojun Chen, Dede Fredy and Chow Khai Shien died in October and late September.
TWU national secretary Michael Kaine said riders wanted to see urgent change.
"It has taken four rider deaths in Sydney for the NSW Government to set up a taskforce," he said.
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"The state government needs to get on with this taskforce and ensure workers are central to it.
"The federal government also needs to acknowledge its role.
"It's not good enough that states are in a piecemeal way trying to address the problem these billion dollar global tech giants have created.
"We need the federal government to act and regulate."