The aim of this paper is to propose a classification of reverse logistics systems based on activities for value recovery from returned products. Case studies were carried out in three Brazilian companies. Research results show that Company 1 uses a reverse logistics system based on 'disposal logistics system', the main reason for returns is 'end of life' and the main motivation is 'legislation'; Company 2 uses 'Recycling logistics system', the main reason for the returns is 'products not sold' and the main motivation is 'recovery of assets and value'; finally, Company 3 uses 'product reprocessing logistics system', the main reason for returns is 'end of life' and the main motivation is 'social and environmental responsibility'.