The Hoops are 3-0 down from the first leg of their last-16 tie and almost certain to exit the competition to the Serie A leaders.
At his press conference in Turin this afternoon, the Parkhead boss recalled a "fantastic" European run this season before insisting his players battle right to the end.
"We haven't had Champions League football for four or five years," said the former Parkhead skipper.
"We had some fantastic nights, even against Juventus the atmosphere was amazing.
"Barcelona, Benfica, to have those nights back at Celtic Park has been truly memorable for me. And going up against the best teams in the world, the best coaches in the world, has been a fantastic experience for a group of players who are relatively young in their careers and who haven't cost a lot of money.
"They have excelled, absolutely excelled, and they have done the club and Scotland proud.
"They have one more crack at it so if we do go out, we want to go out on our shield."
Lennon admits it would be a "minor miracle" if the Scottish champions were to win the tie, but is looking for his players to enjoy the experience.
"It would be a tall order to win the tie 4-0 or 4-1, but we are capable of winning the game and that's what we would like to do," he said.
"If we win we would it would equal the club record (of wins in Europe in a season).
"Juventus are top of the league again and the draw could have been kinder to us, but we want to close the gap on the scoreline and we will have to play at our optimum level to do that.
"It is a fantastic game to play in. We may not be here again as a group, you are playing the champions of Italy who are a very good team so enjoy it.
"Enjoy the stadium, enjoy the atmosphere, don't be intimidated.
"Go and play. The pressure is really off so try to restore some respectability in the tie, play your football and win the game.
"So we have a lot to play for, there are a lot of incentives. However, to qualify would take a minor miracle."
Juventus coach Antonio Conte claimed the Northern Irishman could manage in Italy after the complaining the way he did following the game in Glasgow.
Lennon was so unhappy with Juventus' heavy-handed marking techniques and Spanish official Alberto Mallenco's refusal to punish them in the first game that Celtic asked UEFA for an explanation.
The Hoops boss laughed off Conte's remark, but was deadly serious about making sure that tomorrow's referee, Firat Aydinus from Turkey, was on the look-out for similar tactics tomorrow night.
Asked if he would instruct his players to highlight any man-handling in the penalty area, he said: "Yes, absolutely. There was a directive sent out to all the clubs in Scotland from UEFA and holding at free-kicks and corners was one of the main directives that was to be prevented this season.
"I don't mind physical contact as you know but some of the stuff that was going on in the first game - I haven't seen it as blatant.
"I don't want to make a big issue of it, but the players will make the referee aware if it is going on again.
"Juventus deserved to win the game but I did feel there were part of the game that they should have been punished for, particularly at corners.
"I watched their game against Napoli on Friday night and (Napoli striker Edinson) Cavani was being wrestled a bit and had his hair pulled which you don't often see in the modern game.
"So we are just looking for the referee to do his job properly, that's all.".
Celtic striker Tony Watt has been ruled out of the Champions League last-16 second leg against Juventus.
The teenager suffered a bruised foot in training yesterday and did not travel with the squad as they left for Turin this morning.
Scott Brown (abductor) and Mikael Lustig (thigh) remain out but Charlie Mulgrew could return to the team after missing three games with a muscle problem.
Meanwhile, Juventus coach Antonio Conte is perhaps the only man in Italy who does not believe his side are as good as through their Champions League last-16 tie against Celtic.
The Serie A leaders are 3-0 up from the first-leg in Glasgow and odds-on to reach the quarter-finals of the competition for the first time since 2006.
With Juventus carrying such a commanding lead going into tomorrow night's second-leg in Turin, many believe that Conte should leave out Stephan Lichtsteiner, Claudio Marchisio and Artur Vidal, who are all within one yellow card of a ban, and give some of his fringe players a game.
However, the Juve boss insists the tie is not yet over.
He said: "I hear people saying this could be a good game for us to rotate the team, but if I play somebody it's because they give me guarantees they can play.
"We have three players one booking away from a suspension, but they will still be at risk of suspension after this round too.
"Maybe some will play, maybe others will rest. We'll decide based on the players we have available, calculating also the knocks we have, which we have to look at today.
"Nobody wants to minimise the importance of this game, in fact, qualification is obtained over 180 minutes.
"We've only played 90 and we have another 90, plus maybe extra-time and penalties, against a strong, proud team who will want to make amends for first leg.
"There is a quarter-final to be reached so we definitely won't under-estimate this game.
"It's going to be a test for everybody, starting with me, then the players and the club.
"Certainly the first leg has given us a seriously good chance of reaching the next round, but in football there are always surprises if you don't play with the right determination and concentration.
"Celtic are a very physical side and can create lots of problems from set-pieces.
"We've got to be fully focused because we want to go through and so we've got to give it everything."
Defender Andrea Barzagli, 31, stressed how keen he is to feature against the Hoops.
He said: "The coach decides but I'm a footballer and always want to play, even if I play 60 games in a year, bring them on, it means I'm in good shape so I'm happy.
"For a defender, continuity is important and I'm part of a very strong defence, doing well for a year and a half. We're happy with what we've done, but we won't settle for that.
"Organisation is fundamental to our defence and we work a lot on it in the few days we get to work. This year, we've changed the back three often, yet we have shown solidity.
"It also helps to have the great hand from our midfielders and attackers, and if we've got where we are it's because we have a compact team in which we all help each other out."
Provisional Celtic squad: Forster, Matthews, Izaguirre, Wilson, Rogne, Ambrose, Mulgrew, Kayal, Forrest, McGeouch, Ledley, Wanyama, Commons, Hooper, Samaras, Stokes, Miku, Lassad, Zaluska.