Lampard: We'll gain from previous Euro pain against Liverpool

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• More Premier League news club by club

Chelsea meet their old foes in the last four for the third time in four seasons after they beat Fenerbahce 3-2 on aggregate last night and Rafa Benitez's side knocked out Arsenal.

Lampard was in both Chelsea sides that were eliminated by Liverpool in 2005 and 2007, as well as the one beaten by Monaco in the semi-finals in 2004.

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The Liverpool results still rank as some of the most frustrating of Lampard's career and he is adamant Chelsea will avoid a hat-trick.

Lampard said: "The best thing we can take into these games is the feeling of losing we had at the end of the other defeats - it was one of the worst feelings you can have.

"At club level, those losses are right up there with the most painful in my career. To lose a semi-final is very disappointing.

"I am desperate to get to a final having lost in the semi-finals three times. The semi-final defeats became more and more frustrating each time."

But Lampard has warned his team-mates they must not let their desire for payback impact on their game.

"That's not the right emotion to have," he said. "Champions League semi-finals are about keeping your head for 90 minutes in both legs.

"It's about that golden carrot of getting to the final. I'm sure Liverpool will have the same motivation, especially as they are only fighting for one thing whereas we're in the title race as well."