Aubameyang's £60m arrival from Borussia Dortmund in January raised questions about whether the Gabon international could play alongside Lacazette, who signed last summer from Lyon.
French striker Lacazette, however, has said that he is excited about the potential link-up between the pair this season.
"I never said Aubameyang's arrival was bad for me, only people in the press said it was bad," the 27-year-old told reporters. "I was happy because I knew I could play with him. I didn't see him as a rival more than a team-mate, so since the beginning I was happy about his signature.
"Of course, it's good that we have a good relationship off the pitch. If people are good off the pitch, on the pitch it will be easier to play."
Lacazette scored twice in Arsenal's 5-1 win over Paris Saint-Germain on Saturday.