Lennon's men beat St Mirren 2-1 to advance to the semi-finals.
Their manager wants them to continue the form and finish on a high, despite being 3-0 down from the first leg against the Italian champions.
"Psychologically, today will give them a big lift going into this game and it's very much one to look forward to," Lennon told BBC Radio Scotland.
"To go there and win would be a tremendous way to end the campaign. We want to make it look like the scoreline at Celtic Park was a little bit flattering towards Juventus.
"We felt there wasn't much between the teams although they do have a lot of class in their side. We'd like to go and compete, and try to win the tie."
Celtic face Juventus on Wednesday evening at 7.45pm.