Warnock, 70, has been ordered to pay £20,000 by the FA for criticising the officials in post-match interviews following Chelsea's 2-1 victory over the Prem strugglers in March.
Cardiff were leading 1-0 before Azpilicueta equalised six minutes from time, with replays showing the Spaniard was in an offside position.
The Blues then went onto win the game - leading Warnock to lash out at the officials.
Azpilicueta laughed: "We will talk in private about sending him money.
"I was there in the middle because I was the one who scored the goal.
"When I scored, I looked at the linesman. I thought I was on the edge."