The two clashed on the touchline in the EFL Cup fourth round, which ended 1-1 and saw Spurs win 5-4 in the ensuing shoot-out.
Mourinho was heard during the game to say, “f*****g hell Frank, when you're losing 3-0 you're not standing up here,” a clear reference to the weekend game which saw Chelsea trail by three to West Brom before mounting a second-half fightback to earn a draw.
But the Spurs manager says it was merely a piece of advice from a more experienced manager to remind his counterpart that his team need to see him at those moments, rather than when they are ahead in matches.
“The only thing I was telling him was an opinion, just an opinion from an old coach to a young talented coach which was when the players need us is when they are losing,” Mourinho said at full time.
"When they are winning we don't need to be the protagonists of the touchline.
"We need to be there when they are losing and the last match when they were losing 3-0 I felt sorry for him because he was really sad and quiet in his chair.
"In terms of football I have nothing to teach him. He knows football up and down and is a fantastic coach.
“It is just an opinion. Stay on the touchline when your team is losing and stay calm when your team is winning.”
The two aimed further comments back and forth across the match, but made it clear afterwards there are no ill-feelings. Lampard has previously clashed with Liverpool manager Jurgen Klopp on the touchline during games, too.