Benitez was happy to bounce back after their Champions League defeat at Arsenal.
"It was a difficult match, but the team showed the character and reaction I wanted after London," Benitez told Sky Sport Italia.
"There is a difference in intensity in the Champions League. For example, Arsenal came out straight away and took a 2-0 lead, so in those circumstances everything becomes more difficult. Borussia Dortmund have the same quality and intensity as Arsenal, but we beat them 2-1 because we had the right intensity.
"I am satisfied with the performance today."
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