The pair were seen arguing just after the Blues went ahead through Timo Werner's strike on Tuesday evening in the Carabao Cup.
After the game, Mourinho had stated that he was giving advice to Lampard, who he had managed during his time at Stamford Bridge.
Lampard, however, dismissed those claims ahead of his side's clash with Crystal Palace on Saturday afternoon.
"I don't think any remarks made on the touchline can be called advice. They can probably be wrapped us as advice after a game when you've managed to get back in the game and win on penalties," Lampard was quoted as saying by Sky Sports.
"I would always be happy to take advice from fellow managers and everything around me, whether it be my players, my staff or people I respect in and out of football. That's what moulds you as a manager.
"I don't think the Jose incident was ever advice.
"On the touchline, if you look like you are trying to be what might be perceived as arrogant or if you're trying to portray a character, that can become not real or boring.
"I certainly don't do that, I just react as I see fit. I don't think people should expect us to not get caught up in the excitement."