The Villa chief was hopeful that his side could have picked up at least the point required to jump above Wigan and out of the relegation places.
And things were looking good when Christian Benteke fired them ahead in the first half at Villa Park.
Liverpool equalised when Jordan Henderson scored just after half time and Baker's clumsy challenge on Luis Suarez in the area gifted Steven Gerrard the opportunity to put the Reds in front from the spot which he didn't waste.
Villa stay in 18th spot on 30 points following the 2-1 defeat and while Lambert was disappointed not to get anything from the game, he was not going to single Baker out for criticism.
He told the Birmingham Mail: "You can't blame any individuals. It's a team game, a team sport, we need everyone together.
"I can't have a blame culture. We are in it together and it will stand us in good stead.
"Nathan will learn from the penalty because he is young. If you go to ground in the penalty box, especially against someone like Luis Suarez, that's what can happen."