Lampard and Mourinho were reunited this summer when the Portuguese boss returned for a second spell in charge at Stamford Bridge.
His first stint at the club between 2004 and 2007 was hugely successful, Chelsea winning a string of trophies, including a pair of Premier League titles, with Lampard very much to the fore.
And, with Chelsea set to kick off their latest Premier League season at home to Hull City on Sunday, Lampard has discussed his close relationship with Mourinho.
Speaking at the launch of his new children's book, he told Sky Sports News: "The time he (Mourinho) came to the club before, he took my career a long way. It was more my mind-set rather than anything particularly tactical in football terms.
"I've always had a huge appreciation of that and, even when he wasn't at the club and has been away, we've stayed in touch.
"I wouldn't say (we're like) father-son because he has a very good way, as all the best managers do, of being quite familiar with you and helping you, but also remaining a manager.
"He's not a father figure too much, so you have to respect him.
"I think we've tried to find the right mix in our relationship and maybe we have done."
Chelsea have made a pair of bids for Manchester United's Wayne Rooney this summer but Lampard has no inside information on whether his England team mate will be joining him in west London.
"I'm really not sure, I don't know enough about it," he said.
"I didn't speak to Wayne about it when I was with England last week, he was training and he was focused, and I'm not privy to the transfer stuff.
"That's for clubs to decide, I'm a player. I just keep my mouth shut and train and play!
"I think Chelsea have made their interest known and it's a decision for them and Wayne to come to.
"We're going into the season strong but, if the manager wants to add another player, we all hope he gets his man."