"Listen... if that is a penalty we may as well all just have left," Lambert told BBC Sport. "It is never a penalty. You can understand Jurgen's frustration about it but it's no penalty.
"We deserved [the point]. We came with a good game plan and played a really good game; the commitment, throwing bodies into challenges, and we might have nicked it.
"All I wanted was a chance to go into the last few games with a chance [of staying up]. Hopefully results will go our way. It's not for the faint-hearted, that is for sure. I thought Erik Pieters played brilliantly. Mohamed Salah has been on fire but he was outstanding.
"I could not have asked for any more. If the lads had played like that from the start of the season, I would not be here and they would be cruising in the league. We are in a fight. I will take the fight for anything, and so will the lads."
Stoke are now winless in 12 league games and remain in the Premier League relegation zone, three points behind Swansea City.