The Blues are keen to bounce back in Group E with a win after making a losing start to their European campaign with a 2-1 defeat to Basel at Stamford Bridge.
As a result, Lampard insists Chelsea is not taking the Romanian side lightly and wants to ensure the club returns home with all three points.
"You can never underestimate any team in the Champions League," Lampard told reporters.
"In the first game, we didn’t perform well, we lost. That’s what happens. We’ve got five games now to go, five games to put that right."
The two sides met in last season's Europa League last 16, with the Blues losing 1-0 at Arena Nationala in the first leg.
Lampard says he expects another tough encounter, but is adamant Chelsea have learned from last term’s defeat.
"We’re lucky to have played Steaua Bucharest last season so we we’re fully aware of the good team they are," he said. "Last year, we started slowly and we lost the game in the first half.
"Considering the position we are in now – we need a result – we have to start the game at a top level."