Asked whether he had any regrets about the Chelsea job, he said: "No, It has been a great experience to have the opportunity to win four or five trophies."
A section of the club's supporters has been unable to forgive Benitez for his association with Liverpool, or forget the rivalry he formed with then Blues boss Jose Mourinho.
As Liverpool manager, Benitez outwitted Mourinho in the 2005 and 2007 Champions League semi-finals as well as the 2006 FA Cup semi-final. He was also critical towards his current club while in charge at Anfield.
He also criticised the decision to give him the title "interim manager" as a "massive mistake".
But he says his comments about the fans were made to encourage a unified backing of the team.
"The best for my team is to have a very good atmosphere behind them, players feeling the support," he said.
"Against Napoli they were running an extra mile. Feeling the support against Arsenal, they were running an extra mile. I was trying to explain that if we stick together it will be easier."
Dan Walker on Benitez interview
The crew and I arrived at the hotel early and - after a few issues with light bulbs - we were all set up and ready for Rafa to arrive. I met him in reception at 14:55 GMT and you could see that all eyes were trained on him and that tongues were starting to wag.
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