I do not understand why you want to do this. With a simple \cite and the plain
style you'll get the same:
\documentclass{article}
\usepackage{natbib}
\renewcommand\citep[1]{[\citenum{#1}\relax]}
\begin{filecontents*}{\jobname.bib}
@incollection{lennon1965,
author = {John Lennon},
booktitle = {A book with articles},
editor = {Paul McCartney and John Lennon and George Harrison and Richard Starkey},
title = {This is my article in this book},
year = {1965},
location = {Liverpool},
pages = {65--87},
publisher = {Cavern Club},
}
\end{filecontents*}
\begin{document}
foo\citep{lennon1965} bar\cite{lennon1965}
\bibliographystyle{plain}
\bibliography{\jobname}
\end{document}
However, using biblatex instead of natbib makes more sense.

\renewcommand{\citep}{{[\citenum]}}. – Johannes_B Nov 10 '19 at 10:57