The west London side are four points behind Roberto Mancini's team in the title race and a further seven behind league leaders United, though they do have a game in hand over both sides. And, following their 2-1 win away to Everton, Lampard was in confident mood.
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"It's the position we've put ourselves in because we had a funny run in November and December. We were top and now all of a sudden we are adrift - but we can't look back at that.
"We have to be positive and the big change going into games is attitude with a desire not only to pass and move the ball but to get close and work for your team-mates.
"When we have that we can do what we want. We need to carry on - starting with QPR."
Cahill says that his side have built up a good run, and as long as they keep winning games they will start to reel in the sides above them, but says the derby game against QPR will be a tough one - especially without the injured Petr Cech.
"We have good momentum," Cahill said. "We have changed the team around slightly, the lads are playing well, we just need to keep winning games.
"Now we need to keep looking forward and have the challenge, first of catching City, then looking further ahead to United.
"Everton was a tough one, they are in form and so it was a big test for us. But we rose to it and came away with a massive three points.
"It wasn't the prettiest to watch but we showed we are not just all about flair, we can dig in too.
"I'm expecting a tough game [against QPR]. There is a different atmosphere in derby matches. A lot of form goes out the window in them.
"If we are without Petr, that is a big blow, but Ross Turnbull is a top keeper and did really well against Everton son that is fine."