Jose Mourinho is poised to start his second spell as Stamford Bridge boss as soon as Rafa clears his desk.
And previous manager Roberto Di Matteo remains one of the all- time terrace favourites after winning the Champions League 12 months ago.
Benitez said: "Would I do it all again? Yes. Why not? I am leaving with a lot of good memories. We have scored 145 goals this season, which is a club record.
"We have won the trophy the Europa Cup and look to have qualified for the Champions League. And for sure it's a stronger team. Players have been improving and have more experience.
"The squad is in transition with new players who are improving and learning and now have experience of competing for trophies.
"The new manager will have an easier task because he will have more quality."