Benitez said: "We prepared two or three different options for pre-season and in the end we decided that the best thing would be to stay in Europe.
"Maybe there are times when a club has to go to Asia, America or somewhere because these kinds of tours are good for the club in terms of money.
"But in our case we judged that it would be better to stay in Europe because we had a lot of players at the European Championship and we didn't want them to travel too much.
"We also have players going to the Olympic Games and it can be a disaster if you continually ask players to travel around the world. "The board at Liverpool agreed with my ideas.
"I accept that when you go into a training camp you have to play games to earn some money and hopefully United and Chelsea will eventually regret the options they took."