Spurs were beaten yet again under boss Ange Postecoglou, going down to Crystal Palace away from home this time around.
A poor start to the season sees them adrift of the other top four teams, with Jean-Philippe Mateta sealing a 1-0 win for Palace on Sunday.
"They fight and I think we lacked that today,” Vicario stated post-game, per BBC Sport.
“We are disappointed because we have to fight. We play good football, but maybe we sometimes lack the desire to fight. They showed a real desire to fight for something.
"I just want to focus on us and what we didn't do as a team. I think we lacked a bit of energy and to be better than them. We have to take this personally and it has to hurt us a lot.
"Football gives us an opportunity again and we have to be ready for the cup (against Manchester City)."