Ross Dugan received the Madeline Amy Sweeney award on Wednesday, the 18th anniversary of the attacks.
Dugan, a Massachusetts Bay Transportation Authority electrician, was on Route 24 in West Bridgewater in February when he saw the burning vehicle.
Lt. Gov. Karyn Polito said "without regard for his own life" Dugan pulled four people to safety.
Dugan, who suffered burns, said he was "incredibly humbled."
Sweeney, of Acton, was a flight attendant aboard American Airlines Flight 11. She was credited with quietly providing authorities on the ground with key details about the unfolding attack.
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