Barcelona dominated possession in the first meeting, but failed to find a way past a well-drilled Chelsea side, with goalkeeper Petr Cech also in fine form when called upon.
Blues midfielder Lampard was replaced in the second half as Guus Hiddink looked to keep things tight during the closing stages of the game.
Lampard does not believe Chelsea are now favourites to reach the Champions League final, and expects a different type of game at Stamford Bridge.
Confidence"Not necessarily," Lampard told Sky Sports News when asked if he thought Chelsea are favourites to face Arsenal or Manchester United in Rome.
"I think both teams can still win it from here. 0-0 is a good result for us, but it's potentially a good result for them as they haven't conceded an away goal.
"If they score at our place, it's difficult for us, but we have to have confidence.
"It will be a completely different game. We did play quite a containing sort of game tonight and at home we will obviously have a lot more of an attacking mind I would say."
Lampard acknowledged Chelsea could not afford to allow Barcelona the time and space to play the type of football which has swept many teams aside this season.
DisciplinedHe added: "It's a good result. We kept a clean sheet, which is very difficult. We didn't get an away goal and we had a couple of chances, but against a team of this quality it's quite impressive to contain them as we did.
"Petr Cech was fantastic when called upon and we worked very hard to try and stop them from playing and getting behind us and scoring goals, and we did that.
"I just think they have so many options on the ball that you can't come here and open up against them on their own pitch. I think they're too good for that.
"You have to be very disciplined in the roles and work very hard. You have to do a lot of selfless running, not particularly flashy running, but just to try and cover ground and cover people, and I think across the team we've done that tonight and got our reward."