XP never sees Lilo!! The only thing that XP knows is that something executes its kernel. It doesn't care what process does that or how it does that.
If there are ever any problems, it's because the BIOS, the bootstrap loader, and Lilo don't agree on where things are.
It's not that ntldr is a bad program, it isn't, it's just that Lilo and grub are much better at dual booting.