G2 as algebra of endomorphisms preserving a trilinear form

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I am trying to find some literature or papers about the topic in the title. I've read multiple times that the Lie-Algebra G2 can be described in such a way, but I've yet to find some good, understandable source for this. Any help would be appreciated!

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You may want to check "Octonions, Jordan Algebras and Exceptional Groups", but it is quite possible you misunderstood something : $G_2$ is connected to $3$-Pfister forms, which are bilinear (it is also possible that there is an interpretation involving $3$-linear forms that I've never heard of, though).