In three of those four meetings, the teams have met in the semi-finals, with Liverpool winning in 2004 and 2007, while Chelsea succeeded in last year's last four, in dramatic fashion.
Lampard helped Chelsea to a 2-2 draw against Juventus in Turin on Tuesday - and 3-2 aggregate win - but the England midfielder admitted the players were 'fed up' with what has become an annual Champions League clash.
When you look around at who is left in the competition there is not a team you would say you fancy playing," said Lampard. "Maybe Liverpool don't want to play us either and, to be honest, we are all a bit fed-up of that one. If fate says it should happen then so be it, but I think we would all be happy avoiding it.
"Maybe every other team might not want to play us, but we are thinking about them too. We know whoever we draw will be strong and we will have to perform to go through."
The Telegraph