The Paisley club ended their six-game losing run with a 3-1 home win over bottom side Dundee on Saturday to move four points clear of the Taysiders, but not before Buddies veteran assistant Tommy Craig had an altercation with angry supporters apparently unimpressed by the way their side were playing.
The spat ended amicably with Craig inviting two fans for lunch to show them on a club video the philosophy he and Lennon are trying to instil.
The Buddies boss acknowledged the fans' right to voice their opinions, but hopes they recognise that his players are giving their all, regardless of results.
"You hear it every now and again and Tommy handled it well," said Lennon. "They are the paying public, the fans pay to watch the team, but we share the same frustrations and I understand their frustrations.
"We will learn as much from them as they do from us, but the one thing we don't want to hear is boos. The players need every one of us behind them. They are giving their very best for the team when they go out there."