Lampard last week admitted for the first time his relationship with Villas-Boas had "not been ideal", but Villas-Boas this afternoon reiterated it was "good, excellent".
The Blues manager claimed that did not mean he and Lampard needed to hold clear-the-air talks on the matter, insisting they were still on speaking terms.
"It's just a manager-player relationship in the end," Villas-Boas said.
"Frank's words are genuine.
"They are genuine from a player that has a reflection of a relationship between us.
"For me, it's fine, I have no problems with it."
Star midfielder Lampard has been unhappy with the number of games he has missed this season but Villas-Boas said: "I have to choose the team and I try to choose the best team for every single game.
"It hasn't involved Frank a couple of times but it doesn't mean I have a personal problem with him.
"His own interpretation of the relationship is his own but I have no problem with it and I explained it to him.
"They are decisions I have to take for the benefit of the team, always."
Chelsea fans left little doubt who they would back in any dispute between Villas-Boas and Lampard during last weekend's Barclays Premier League win over Bolton, repeatedly singing the latter's name throughout.
Villas-Boas was not worried about losing the battle for hearts and minds, saying: "No, not at all. I think the fans take the team's side.
"We were winning 3-0 - everybody's happy, no?"
He added of Lampard, who broke another two Chelsea goalscoring records on Saturday: "He's a legend of the football club. If they chant his name during the whole game, it's because he represents exactly that.
"He achieved two great individual records in that game and I think he fully deserves it.
"I hope one day to have the curriculum that Frank has at this football club, which is amazing in terms of trophies.
"If that is the case, that means that I will be a successful manager and my shadow will be lurking over other managers of this football club."
Villas-Boas was also relaxed about defender David Luiz's comments that Chelsea's players needed to start behaving more like "employees" of the club and obey their manager's orders.
Luiz's words were interpreted as an attack on Lampard - something the defender denied.
Villas-Boas said: "It's no different from any other club. We're all employees of the club, professionals of the club.
"Players have to take responsibilities. Managers have to take responsibilities from the owner."