The Blues defender denied there was any lingering animosity between him and the Belgian star following their clash during Sunday’s match at Old Trafford.
Lukaku sent the Chelsea skipper flying off the pitch after a tussle near the corner flag.
Azpilicueta almost hit the fence protecting the spectators from the action, but instead collided with United’s official club photographer of 25 years.
Asked about the incident by the Metro , he said: “I was okay, maybe I was lucky I had the photographer just in front of me. I was going straight to the wall.
“It’s a fight, it’s a fight, we knew they are a very physical team. Physicality is part of football, the battles, I’m happy for it.”
The two teams battled out a fiercely contested 1-1 draw, which left Chelsea in a strong position to claim a top four spot by the end of the season.
Juan Mata’s opener was cancelled out by Marcus Alonso’s equaliser, which came after a mistake from United keeper David de Gea.
It was the latest in a recent flurry of errors from the usually dependable Spaniard, who has cost them several goals of late.
But Lukaku was quick to jump to the defence of his teammate, and claimed he would come back stronger than ever.
“He’s a really positive person,” said Lukaku. “He’s the been the best player at the club since when? Seven or eight years, consistently.
“I don’t think we should discredit him like that and suddenly say he’s a bad goalkeeper. He’s saved us so many times this season.
“It happens to strikers, it happens to midfielders and now it’s happening to him.
“He has to learn from it. Goalkeepers always have a spell when its might be difficult.