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I would like to use LFTP to create a directory if it does not exist. It should be a "one-liner":

This does already work:

lftp -c "open -u user,pass server; mkdir /test

lftp -c "open -u user,pass server; mkdir -p /test

fails if the directory already exists:

mkdir: Zugriff nicht möglich:550-Can't create directory: File exists 16 files used (0%) - authorized: 50000 files 1286621 Kbytes used (0%) - authorized: 512000000 Kb (/test2)

But it does fail if the directory does already exist. How can I do this more elegant?

If you can't upgrade to the latest version of lftp, you can use this :

lftp -c "cd /my/new/directory || mkdir -p /my/new/directory"
It will create the directory only if it can't enter it. 
Looks like
mkdir -pf  /my/new/directory || cd /my/new/directory
is a solution for me: no error messages, no error codes, unless there is something wrong with the directory (permissions, the name exists as a file etc.)
UPD: In my case I only needed to create directory. If the command used in a longer script, additional cd command might be needed, since the working directory after the command above depends on whether /my/new/directory existed before.
Do you mean simply mkdir -p /test?
Answered here: How to mkdir only if a dir does not already exist?
From the mkdir --help:
  
-p, --parents     no error if existing, make parent directories as needed
        
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