Guardiola has sympathized with the young English coach, insisting that managers in modern football are not given enough time to bring success.
Lampard was relieved of his duties at Stamford Bridge on Monday after just 18 months in charge of the West Londoners.
Guardiola is yet to be sacked in his 12 years of management and is currently in his fifth year at the Etihad Stadium.
However, he came under intense scrutiny at the end of last season when the Citizens were knocked out of the Champions League by Lyon.
The former Barcelona and Bayern Munich gaffer has insisted he has never for once taken his position for granted and offered words of encouragement to Lampard.
“Young and old managers – here you have to win” Guardiola said as quoted by Manchester Evening News.
“The people talk about projects and ideas but it doesn’t exist. You have to win, if not, you will be sacked.”
“I respect the decision from Chelsea, of course, but a huge hug for Frank and hopefully I can see him soon. When the lockdown will be over I can go to the restaurant to see him again.”
“He was appointed at a team like Chelsea after the good job he had done at Derby County, these people deserve it. But we depend on the results, not the way we play, not about philosophy or these kinds of things or the projects.”
“You have to get results. If you don’t, you will be replaced by another manager.”
