Now directing Pakistan, South African Arthur is keen to steer the south Asians to a win against his old team when the three-test series starts in Brisbane on Thursday.
Starc was never able to cement his position in the test side during Arthur's 19-month tenure from 2011-13, and said Australia were a better team under his successor Lehmann.
"I didn't have too much time with him ... he obviously had his different theories," Starc told local media in Brisbane on Sunday.
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"He was a nice guy.
"Our team has changed immensely since he's been put out of the job ... we're a lot closer.
"Boof's (Lehmann) obviously brought his own coaching theories and concepts.
"The group has obviously changed personnel-wise as well, so we've developed massively as a squad since the time of Mickey Arthur, and I think all for the better."
Arthur was sacked three weeks before the 2013 Ashes, after a breakdown of team discipline during the 4-0 series loss away to India and later in England.
Australia have lost five of their last six tests to put Lehmann under pressure, but Starc said the straight-talking former test batsman was the right man to guide a rebuilding team which blooded four debutants in their last match against South Africa.
"(Arthur) probably rode the game a little bit more and I think at times found it hard to watch," Starc said of the South Africa's coaching.
"Whereas Boof instils a lot of confidence in you. He's got that laid-back, old-school attitude but doesn't sugar-coat anything.
"That's what this young group needs as well ... some hard truths sometimes."
(Reporting by Ian Ransom; Editing by Amlan Chakraborty)
