The 23-year-old is also well aware of the animosity from Chelsea fans towards interim boss Benitez, but thinks the players can create a more positive atmosphere around the club.
"Rafa is trying to do the best for Chelsea, for the players and for himself," said Azpilicueta. "It's true some of the fans boo him. But when we win they are very happy and this is what we need to try do as a group. When we win, all the people are happy.
"It would be better if the fans got behind the manager. Of course, it would be easier if we were all together. But the most important thing is the result, when we win that is what the fans care about."