The former American Idol runner-up has been rehearsing with the legendary group's Brian May and Roger Taylor for a couple of gigs next month.
Lambert praised the calm nature of working with the pair so far, and that he will not try to replace the late frontman.
"It's such a great challenge, I'm so excited," he told BBC Breakfast. "It's actually surprisingly comfortable, it could have been really intimidating.
"They are a class act, very down to earth. We're having fun making good music. I'm not gonna be Freddie, he is one of a kind, no-one will ever replace him.
"I'm just singing music he helped create, to bring it to life."
Lambert added that he is looking forward to bringing the two styles of Queen and himself together.
"Fronting Queen means that we're crashing two worlds together. I love classic rock but right now I'm creating dance-pop with a rock and roll spirit.
"I can sing different stuff, as long as I'm getting the green light from Queen then I'm doing something right."
He added: "I don't want to stray too far from the original, but I will also make it my own."
Queen and Adam Lambert will perform at London's HMV Hammersmith Apollo on July 11 and 12.
The singer will release his second studio album Trespassing in the UK on July 9.
Watch the video for Adam Lambert's 'Never Close Our Eyes' below: