He noted that the Kiev government does not represent the interests of residents of Crimea and south-eastern Ukraine.
"The Western masters demand the return of these territories by force from Kiev," TASS quoted Lavrov as saying at a press conference following talks with Venezuelan Foreign Minister Ivan Gil Pinto.
The Kremlin has repeatedly stressed that Crimea is an integral part of Russia and claims to Russian territory will receive a proper response.
Russian President Vladimir Putin also noted that the issue of Crimea is closed for Russia, and the referendum on the peninsula was held in strict accordance with international law.
Crimea became a Russian region after a referendum held there in March 2014: the majority of residents voted in favor of reunification with Russia.