35-year-old Lampard was on target in Chelsea's 3-0 win over Stoke City on Saturday, as he fired home from close range after Asmir Begovic saved his penalty.
Speaking after the match, Lampard told Saturday Night Football that he was very happy with his role at Chelsea - helping develop the new squad.
"I am enjoying playing my football, I am loving it and seeing the development of the new squad and you become and older hand and help them, I am enjoying the role," said Lampard.
"I have always said I want to play for another two or three years, at the minute and as long as I am fit and feeling fresh I will do that."
Lampard admits that Chelsea's win at Stoke was important to help them overcome their recent disappointing results which has seen them lose to Crystal Palace and Paris Saint-Germain in the last week.
"It has been a tough week and we don't like losing games, and we knew we had to win all our games and Palace and Paris was disappointing," he said.
"We have done the perfect job and now we get ready for Tuesday."
Lampard felt Mohamed Salah, Andre Schurrle and Willian were all outstanding in the win at Stamford Bridge.
"We took about 10 minutes to get into the game but I thought Salah was great and Schurrle, everyone expects to see Hazard and Oscar but those two lads were very positive
"Willian was also brilliant, he is so sharp on the ball and the goal was the epitome of what he does - and he grafts back too, some don't want to graft back but he is one of those that does."