Rafa Benitez's side must turn around a 1-0 deficit from the first leg of their last-16 tie if they are to progress in the competition.
But Lampard, who became the third highest appearance maker in the club's history in the first leg in Romania, is confident they can prevail at Stamford Bridge.
"Steaua are a good team," he told the club's official website. "They are technically good on the ball, which most European teams are once you get to this stage of a competition, and it will be a tough game, as simple as that.
"It was a very difficult pitch out there and our pitch will be better.
"The fact we didn't score an away goal is going to make it a difficult night, it will be on a bit of knife edge, but we have to believe we have the character and ability to turn it around."
Lampard is delighted to have moved ahead of John Hollins in the list of all-time Chelsea appearance makers.
But the 34-year-old, whose future at Stamford Bridge remains unclear, admits he will do well to surpass Ron Harris and Peter Bonetti, who played 795 games and 729 games respectively for the Blues.
"I am really pleased to have gone third," added Lampard.
"I didn't come here until I was 22 so I have managed to play regularly for a long time and to be up there with the likes of Chopper Harris and Peter Bonetti is a very proud moment. I never thought when I signed that I would play that many games.
"Chopper particularly is miles ahead and in the modern day, with the squads we have, it is different, and it will be very hard for anyone to catch him."