Former Manchester City striker Samaras has infuriated and delighted in equal measure since announcing his arrival on the Scottish stage with a goal on his debut at Rugby Park five years ago.
He has been in fine form this season and was again impressive in the recent UEFA Champions League defeat against Barcelona, where he was used in his favoured deep-lying role.
Talks with Stokes over a new deal began some months ago but Lennon remains confident that both can be persuaded to stay.
The manager said: "We are aware that he (Samaras) is out of contract at the end of the season.
"We will be speaking to Georgios and his representatives pretty soon and we will speak to Stokesy again. I don't know when but it will happen."
Despite the disappointment of the narrow defeat by Barcelona, Lennon does not believe that his players will need any additional motivation for the visit of Motherwell this weekend.
"When you have been competing against the best teams and challenging them, it gives you a great lift," he said.
"The players came in today and the quality of training was exceptional.
"They have had a look at what the top level of football really is and they are not far away and they will get a huge lift out of that so in terms of motivating them for tomorrow's game, I don't think they will have much of a problem."