Octavian was defeated in the naval battle of Messina ( 37 BC ) .
He now turned to his friends Marcus Vipsanius Agrippa and Titus Statilius Taurus , both very talented generals .
Octavian was defeated in the naval battle of Messina ( 37 BC ) , so he now turned to his friends Marcus Vipsanius Agrippa and Titus Statilius Taurus , both very talented generals .