Benitez led Chelsea to the Europa League title in 2013.
"It was not just the fans," Benitez told talkSPORT.
"My main concern were the players and the staff, the people around and I was really pleased [when I left].
"I still have a lot of contacts and everyone could see it was a difficult time from the beginning, we did well.
"Even the staff and the board and the people around are happy with what we did. We did what we had to do and that is it."
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