The Holland striker, guilty of a shocking miss in the first half, smashed the ball home at the back post to secure a 3-2 win with his first Premier League goal since November.
Benitez said: "Our character and determination shone through in the second half. It was fantastic."
City were left stunned by the Reds fightback after taking a two-goal lead in the first half through Stephen Ireland and Javier Garrido.
"We were made to pay for two mistakes but we went on to show a good mentality to win the game," said Benitez.
"The belief of the players was the key to our success.
"I just told the team at half-time that we just needed one goal to get back in the game.
"Physically were are in good condition as well and the players are ready for every game."
Benitez acknowledged the key contribution from Torres who is hitting top form.
"We all know how important Torres is for us," said the Liverpool boss. "He is always a threat for defenders.
"He can score goals and he also gives space to his team-mates. He is a great boy with an excellent mentality."