Commons criticised the Nigerian centre-back for his performance in the 3-0 Champions League Round of 16 first leg loss to Juventus last month after he returned from winning the African Cup of Nations less than 24 hours prior but Ambrose says there is no rift between the pair.
"Kris is a great friend. We've been chatting and laughing," Ambrose told the Daily Record.
"But I know how he felt after the Juve game. Sometimes when you lose it brings out another side of you.
"I know when I don't feel happy about something, it's good to say so. I understand that and just take everything the way it comes - and Kris has since apologised.
"However, he did not express things in the proper way. If Kris had been calm when he spoke, he wouldn't have said what he said. But I understand.
"What he did do was make me a better player and gave me a challenge. Next time I will stand up for myself and stand up for the team. That's what he was telling me.
"I know what he was saying better than people who were not in the dressing-room."
After the defeat to Juve, Commons said of Ambrose: "If he wasn't feeling okay then he should have said so. If he felt good then he should have put in a better performance."