Snapshot Interpolation

Im trying to create a simple pong game but Im getting confused with the correct lerping speed between points, delays and potentially lost packets.

Very simply Im sending across a Vector3 Position and another Vector3 euler rotation for simplicity. I send it every 15 frames. When I receive it, I check the duration since the last receipt and lerp between the two points.
To not have delay, I want the speed to catch up to the latest position as soon as without creating jitter so how should I calculate speed for each lerp? Also should I cache every receipt and lerp between that and the previous one?

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