But the situation has considerably soured after CCTV footage, published by South African outlet Independent Media, showed Warner and de Kock engaging in a verbal stoush as players made their way to the dressing rooms at tea.
Australia is on the brink of taking the lead in the four-match Test series after reducing South Africa to 293 for 9 at the end of day four's play at Kingsmead in Durban.
Warner had to be restrained by teammate Usman Khawaja and then dragged away by captain Steve Smith after he did not relent on his barbs at de Kock.
In the footage players from both teams can be seen walking up the stairs and making their way to their respective dressing rooms.
Warner then unleashed a tirade of abuse in the direction of Aiden Markram, who was involved in the run out, while Lyon dropped the ball in the direction of De Villiers who was sprawled on the turf in trying to make his ground.
It was another example of the often unacceptable way Australia play their cricket, in particular Warner, who upset England with the tone of his sledging towards Jonny Bairstow in the first Ashes Test at Brisbane earlier this winter.
Match referee Jeff Crowe is expected to investigate the incident, with ICC laws dictating that players must not use "language, actions or gestures which disparage or which could provoke an aggressive reaction from a batsman upon his/her dismissal". I think the less interest you take in him the better. "CA is working to establish the facts of what has occurred and will not be commenting further until that has been done". They had already lost two wickets for 39 when they were further pegged back by the untimely run out of their main batsman AB de Villiers for a duck. "It best just to let him be".
Warner also exchanged words with South Africa captain Faf du Plessis at the tea break on the fourth day of a Test Australia were on the brink of winning going into the final day.