United travel to Stamford Bridge trailing the Blues by two points at the top of the Premier League, and Lampard is expecting a firecracker.
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"I don't think anyone will need to work hard to get up for the United game," he said. "We all know it's coming. We'll try and put some space between us and them at the top.
"We're in good form, very good form, and that shows in the results - but there's room for improvement. There always is. Any moment of slacking either on the training ground or in our preparations and that form will quickly go away.
"So we will keep trying to improved and, hopefully, can get even better. If we win, then we can open a gap. If we don't, there's a danger Manchester United can close it."