The Chelsea legend was at the helm at Stamford Bridge for 18 months before he was replaced by Thomas Tuchel.
In his first season in the dugout, Lampard would go on to guide Chelsea to a fourth place finish, despite having a transfer ban in his first summer with the club.
Frank Lampard has revealed Pep Guardiola's reassuring words to him when he was manager of Chelsea
His side lost 4-0 to Manchester United and to Liverpool in the European Super Cup in his opening games as Chelsea boss
However, things didn't go to plan in his opening games back at the Blues, with defeats to both Manchester United and Liverpool.
Speaking on "Gary Neville's Overlap Podcast as part of the Sky Sports pundit's 29 questions segment, Lampard was asked which manager, past or present, he would have loved to play for.
Lampard was quick to respond 'Pep,' before revealing what Guardiola said to him following Chelsea's Super Cup defeat to Liverpool in 2019.
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After the defeat to Chelsea, Pep Guardiola sent Lampard a voice note with a reassuring message
He said: 'When I first had my first game for Chelsea and we lost to Man Utd 4-0 and we played well for 60 minutes and we got done on the counter and then bang, bang it was two, three, and it was four.
'At face value, it's 4-0, you can't defend it as a manager, you have to take it on the chin.
'Then we went to the Super Cup and lost to Liverpool, played well, lost on penalties.
'I was on the plane home on the way back from the game, a little bit disheartened and I