The Spaniard has been a remarkable servant for the Blues since joining from Marseille for a £7million fee in 2012.
On Saturday, he completed a feat that even the likes of John Terry, Frank Lampard and Didier Drogba couldn't.
With the Club World Cup triumph over Palmeiras, the 32-year-old became Chelsea's first player ever to complete a clean sweep of major trophies, adding that piece of silverware to his Premier League title, Champions League, Europa League, European Super Cup, FA Cup and League Cup.
If he can win the Community Shield - the Premier League curtain-raiser that is played between the title winners and FA Cup holders - Azpilicueta will have won every trophy available to win at the club.
Chelsea's captain, who is the club's longest serving player, couldn't heave achieved his feat earlier too but Corinthians beat the Blues to the title in 2012 following their maiden Champions League win the same year.
Nevertheless, despite his glittering trophy collection, Warnock has made the bold claim that Azpilicueta 'isn't a good defender' and has been lucky to have his career because of the Chelsea sides he's been in.
"It goes two ways. I think he's been very fortunate lad to be at a club like Chelsea," he told the talkSPORT Breakfast.
"I don't think he's a great defender. Sometimes in football, you need a bit of luck and I think he's had a bit of luck that he's been there at the right time and at the right place.
"That's what you need in football. You need a bit of luck to be successful."
Azpilicueta's ten-year stay at Chelsea could come to an end this summer as his contract runs out in west London.
The Spaniard is said to be a top target for Barcelona, with Xavi Hernandez keen on bringing his compatriot to Camp Nou ahead of the 2022/23 season.