Lampard is seen as part of the players clique which made it so difficult for AVB to succeed at Chelsea last season.
But Villas-Boas holds no grudge against Lampard, who has since scored his 201st goal for the club and moved within one of Chelsea's all-time record.
"It's something he's chased in recent years as an individual objective and being so close means a lot to him," said Villas-Boas. "It's difficult to see another midfielder ever scoring 200 goals. Frank has the instinct of a striker and his timing is perfect."