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Record goalscorer Lampard replaced Maurizio Sarri in the hot-seat at Stamford Bridge and suffered a 4-0 defeat in his first game in charge.
His youthful Blues side performed well for an hour at Old Trafford but United punished Chelsea in the second half with goals in quick succession from Marcus Rashford, Anthony Martial and Dan James turning it into a rout.
Chelsea were then beaten on penalties in the UEFA Super Cup, with Adrian proving to be the hero for Liverpool following a 2-2 draw in Istanbul.
Lampard was feeling down but then perked up when Guardiola, a serial winner with Barcelona, Bayern Munich and Manchester City, showered him with praise.
"He’s so great with managers, Pep, behind the scenes the things he does with the LMA, helping other managers. He’s sent me voice notes,” Lampard told Gary Neville on 'The Overlap when asked which manager he'd most want to play for.
"I don't like giving away private conversations but in my first game as Chelsea manager we lost at Man United 4-0. We played well for 60 minutes, then got done on the counter, then bang, bang, 2, 3, it was 4-0.
“Then we lost to Liverpool in the Super Cup. Played well, lost on penalties... I was on the plane on the way back from the game, a little bit disheartened.
“Got a voice note from him, saying the way my team played was incredible, loved watching it, really positive chat. The voice note deleted itself though.
“I wanted to get home and say, ‘listen to this, Pep said I’m a good manager’. Little touches like that, make an impression on you. Sometimes you get caught up in your own world and don’t see things. He’s doing the business and sends you a voice note like that, it was special.”
In his only full season at the club, who were placed under a transfer ban at the time, Lampard led Chelsea to a fourth-placed finish and the FA Cup final.
Lampard actually beat Guardiola and City in the extended campaign, handing Liverpool the title courtesy of a 2-1 win.
In the 29 questions video, Lampard also revealed Spurs' White Hart Lane was his favourite away ground to play at, his favourite goal was the glorious by-line chip against Barcelona, he's changed his view on the Lionel Messi vs Cristiano Ronaldo debate and Andres Iniesta was his "toughest opponent" because "he could go either way on you."
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