And Taylor said he was confident of the club mounting a promotion challenge next season.
"I think I can help players improve and I think we will have an organised team," he said.
"The supporters will enjoy seeing the side play. I want a good relationship with players and supporters and I want a good relationship between players and supporters.
"You've always got a chance if everybody goes for the same thing, if we all pull in the same direction we have a real good chance."
Lambert took over at Adams Park in July 2006 and led the club to the Carling Cup semi-final in his first season.
He resigned as Chairboys boss on 20 May following the 2-1 aggregate defeat by Stockport in the League Two play-off semi-finals.
The 38-year-old claimed the time was right to move on following the club's failure to win promotion to League One.
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