The duo are competing for a regular spot between the posts for Spurs this season, with manager Andre Villas-Boas rotating the two.
"It was always in [Villas-Boas's] plans to play me against Chelsea and I knew from the point he benched me against Aston Villa," Friedel told Sports Illustrated.
"The media wanted to make out that it was this big fight between Hugo and myself and the manager, but there was never a big fight. The fact is Tottenham have been looking for the last year and a half for a long-term number one goalkeeper.
"I don't think they envisioned what my fitness levels would be at this age and I sort of surprised myself. So we have a competition now. It's healthy, but there's a competition. It's friendly."
Friedel has been at Spurs since 2011, while Lloris joined the London club in the summer.