Gregg Wylde's stunning 79th-minute strike gave the Buddies their third win in four games as they claimed a 1-0 home victory over Ross County.
Saints now stand on the verge of securing a ninth consecutive season in the top flight and they sit seventh on 38 points with two games remaining - five ahead of their midweek opponents, who first play Hearts on Sunday.
Lennon said: "We are in pole position and would very much like to stay there.
"We know what is required to stay there and that is the key thing that we did today.
"If we manage to hold on and get the result we desire against Killie on Wednesday it would be our highest finish since 1989.
"It's been a roller-coaster season full of ups and downs but that would be something to be proud of."
Lennon also paid tribute to Wylde after he smashed home the winner from 20 yards.
"What a guy he is," said Lennon. "Gregg is one of the nicest guys I've had the pleasure of working with. He's very sincere, very honest and very humble.
"A lot has been written about him and the clubs he's had - Rangers, Bolton and Aberdeen - but I know that he would expect more game time than he's had since he came here.
"It's a decision I've had to make but any given time that he is called upon, he is always ready to come on, give 100 per cent and make an impact - and what an impact he made today."
Ross County could find themselves in 11th place by Sunday evening if Killie win at Tynecastle but Staggies boss Derek Adams is confident his side will survive.
He said: "St Mirren's goal was outrageous. It was great for them but not for us.
"It's become very tight down the bottom and today's result is a hindrance to us. But we have two games to go - Hibernian and then Partick Thistle - and we will see what happens.
"We have shown since January that we are the form team in the bottom six and we are hopeful we can finish higher up the league than we are right now."