Ex-Blues midfielder Lampard has been in impressive form for New York City FC this season with 12 MLS goals, having struggled during his first campaign with the club.
"There was absolutely no doubt that Frank wouldn't go out there and succeed," Nigeria international Mikel, 29, told Goal. "I am happy that he is back to his best, doing what he loves to do and, one day, who knows, I may go over there and play with him, or play against him."
Mikel has yet to feature for Chelsea this season under Antonio Conte, but he is determined to force his way into the Italian's plans.
"I know it is going to be difficult for me to get back into the team because I have missed the whole preseason," Mikel said.
"The manager obviously has his philosophy of the way he wants to play and I need time to get back into the way he wants to do things. It will be difficult, but it is one challenge that I am looking forward to. Like everyone knows I don't run away from a challenge."
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