Robinson's side take on Samoa on Saturday and he has decided to tinker with the XV that beat Fiji 37-25 at the weekend.
Neither Lamont nor Cusiter had anticipated a return to the starting side but are promising to show their hunger now that they are back.
"I had presumed he (Robinson) would go with the same team as he did last week, with me on the bench," admitted Lamont.
"I am grateful that I have an early chance. I still love playing for Scotland so any chance to go on the field is good.
"My first cap was against them (Samoa), so was my 50th. Outside the Six Nations, the only team I have played more often than Samoa is Australia."
Cusiter, who replaces Mike Blair at scrum-half, voiced similar sentiments.
"I didn't see it coming," he said.
"That said, I was really pleased with my impact off the bench in the last two games, but I am still delighted.
"I am confident, I am playing well and it is nice to get a start in the last game of the season."
One of Cusiter's primary functions in the match will be to deal with the offensive threat of Samoan danger man Kahn Fotuali'i.
He is well aware that is no easy task but the Glasgow player knows all about Ospreys counterpart Fotuali'i from their RaboDirect Pro12 meetings.
"Kahn Fotuali'i is a cracking player," said Cusiter.
"He has had a good year at Ospreys, he played very well in their game against Japan the other day and is a key player for them.
"They have a a lot of guys back in the side who play in Europe and we know them a lot better than we did the Fijians last week, so it is going to be a different challenge.
"I think the chance to come over here is unique and it brings its own challenges, just with the heat and the weather conditions, as well as the quality of players they have got."
Lamont has also had his fair share of experience of the opponents and is clear on what to expect when the sides kick-off.
"Obviously I have played against a few of them but I have not seen their team yet so I'm not exactly sure who will be there," he said.
"Quite a few of the boys across the board are players we know from having played with them or against them, they are excellent players.
"We know a lot of their players from European rugby and in general they are simply a more structured team than the Fiji side we faced last week, whether that is a result of the time they have had together or the players they have got. They will be a big threat, especially on home soil."
Meanwhile, Glasgow flanker Rob Harley is set become the fifth player to make his international debut on the trip after he was named on the bench.
The 22-year-old Harley replaces John Barclay, who has gone back home to prepare for his wedding.
If he sees some game time, Harley will be the last of the uncapped tourists to make their bow, following prop Ryan Grant and wing Tom Brown - who won caps against Australia - and Tim Visser and Tom Ryder, who got theirs against Fiji.
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