The incident happened during Chippa's 1-0 loss to Orlando Pirates in the Telkom Knockout last-16 at Orlando Stadium on Saturday night.
Mayambela, who was replaced by Daine Klate just before the break in Soweto, insists he has learnt from his "heat-of-the-moment" reaction.
He said: "We have discussed it after the game. It's now water under the bridge. It was heat of the moment. It was a big game, obviously there will be a reaction.
"The coach wanted to win the game, I wanted to win the game, the players wanted to win the game. Everyone in the team wanted to win the game.
"These things happen in football. We learn from it. It's important to learn from it. There was never any problem with the coach, there is no problem even now."
The former Bucs man added: "I apologised to the coach. I apologised to my teammates. I have also apologised to the chairman [Siviwe Mpengesi].
"Everything is back to normal, no issues. As I said, everything is now water under the bridge.
"The focus now is to make sure we do well for the club in the upcoming league fixtures."
The Chilli Boys, in 11th place on the Absa Premiership table, next host champions Mamelodi Sundowns at Sisa Dukashe Stadium in this league this coming Saturday (20h15).