Yoshi does so much to falco. Yoshi does almost nothing to lucario. That's what it comes down to for me. Falco and lucario can both do a lot to yoshi, but yoshi can actually get reliable damage on falco, can jungle him, pressure him, and gimp him. To lucario? Yoshi can zone him sometimes. 2 hit combo? Edgeguard maybe, but rare. Not kill him, thats for sure.
Sure falco camps and is annoying, but falco does that to all characters. Its usually the characters that can do stuff to falco once they get in that beat him or go even. Like MK, Pika, Ics, snake (not sure on that matchup). Some characters absoultely can't get in, but yoshi has the airspeed to, luckily.
Lucario is just awful, its not unwinnable by any means, but its very bad. Getting the kill is so hard and lucario just racks up damage soo easy on yoshi. Early up air kills can sometimes let yoshi get into the match, and yoshi can actually do ok with a lead.
Also, falco wants that grab, so you can just play with that. Lucario doesnt really want anything.