Lampard was involved in a war of words with Reds manager Jurgen Klopp during Chelsea's 5-3 defeat at Anfield on Wednesday (22.07.20) after Mateo Kovacic fouled Liverpool forward Sadio Mane.
Discussing the incident with Sky Sports, the 42-year-old manager said: "For me, it wasn't a foul from Kovacic, and there were a lot of things that weren't going our way. But I've not got a problem with Jurgen Klopp. The way he's managed this team has been fantastic.
"Fair play to Liverpool Football Club, they've won the league, but also don't get too arrogant with it. That was my point, but it's done. In match play, you can get emotional and that was it."
Despite his team suffering defeat, Lampard described the game as "extraordinary".
The former England midfielder commented: "It was an extraordinary game.
"Even when you say they threatened to run away with it, I felt we were in it. I could feel that in the way we were playing."
Chelsea need a draw in their final match of the league season against Wolves to secure a place in the top four, and Lampard is upbeat that his team's destiny is in their hands.
He said: "It's going to be huge. We know the situation. It's in our hands to get the right result against a very good Wolves team. We have to deal with the pressure of moments like this if we want to get to where we want to be.
"We'll have to recover and then we'll go on Sunday."