The fourth-placed Blues are currently the hunted team, with Spurs only a point behind after a win over Aston Villa on Sunday.
They face Manchester United on Monday in a blockbuster clash, and Lampard doesn't want his players to shy away from the pressure.
"I don't mind the reality of it, I like the reality of it," he told the club's website.
"I think the players should know that if you want to make the top four, we're in a good position now and we can affect it seriously over the next seven days.
"That's not bad to have in your mind. We should be slightly on edge. Training should be on edge, like it has been, when people are tense and being competitive, and we have to take that into the game against Manchester United."