After the Mexican Grand Prix concluded, Mercedes advisor Helmut Marko slammed Red Bull rookie Max Verstappen for almost ruining Nico Rosberg's World Championship title bid.
With only two races remaining, Lauda stressed Rosberg and Lewis Hamilton need to have clean races as one piece of reckless driving could ruin their respective title challenges.
At the recently concluded Mexican Grand Prix, the German driver was attacked by Verstappen on his inside for his P2 position. The move was deemed aggressive as the two touched, with Rosberg being forced off the track.
"Nico was clearly in front," Lauda said.
"And Verstappen then rams him off the track. This could have cost Nico the championship. It is not acceptable.
"It's Verstappen's fault. He drives too aggressively. At some point, he has to realise it."
Lauda also went to express his views on an incident involving Verstappen and Sebastian Vettel, saying the teenager deserved his penalty.
"That was a just and right decision," he added.
"A repeat offender like him has to be penalised.
"[Red Bull motorsport advisor] Helmut Marko should talk to him. If he didn't drive that aggressively, he would develop much better.
"His talent is unbelievable, but then he smashes it all with these stupid actions. He doesn't realise, he thinks he is doing everything right, but he doesn't. He has to calm down."