The Blues beat Real Madrid over two legs to set up an all-English showpiece with Manchester City, a team Tuchel has twice beaten since replacing Lampard in January, and will take on Leicester City in the FA Cup final on Saturday.
Chelsea went unbeaten in the group stage under Lampard, winning four and drawing two of six games as they conceded just two goals. However, he was dismissed with the club ninth in the Premier League and big-money summer signings underperforming.
Tuchel has taken Chelsea to third in the standing and reached the final of both the FA Cup and Champions League, highlighting Lampard’s “amazing” work from earlier in the season.
“Frank had an amazing record in the group stage of the Champions League,” said Tuchel. “[He] won all the FA Cup games. He’s laid the foundation to get us to finals and I will never forget it, we don’t feel ashamed or have any fear to speak it out loud.
“It felt like that on the first day. I am aware Frank created his own legacy as a player and make it bigger as a coach. We stepped in halfway through the season and tried to fulfil the job he had began.”
Tuchel exchanged messages with Lampard shortly after he replaced the former midfielder in west London, but they have not spoken since.
“Frank resembles everything you think about Chelsea,” said the German. “You think about Frank Lampard, the way he is, how he played football.
“This shows his character and the message he sent was a pleasure to receive. We had a message a couple of days after we arrived but nothing more.”