Yesterday's friendly finished 1-1 and gave Chelsea players the chance to catch up with their former manager.
"Everyone at Chelsea has a lot of respect for Carlo," Lampard told chelseafc.com.
"He was an amazing manager and an amazing person, and it will be nice to meet up with him, as it will Paul Clement who was well liked by the lads, and Nick Broad the nutritionist and Claude Makelele as well.
"Carlo winning the Double in his first season at Chelsea was amazing but I remember him as the man as much as anything because of how personable he was.
"You could talk to him on a normal level and even the day he left the club he had a couple of beers with some of the lads. He was just a gentleman through and through so I have very fond memories of his time here."