"Lazio showed their strength and their pace, but we deserved the win and continued to play with intensity right to the end," Benitez told Rai Sport after the 1-0 quarter-final result.
While Jorginho hit the upright and impressed in his first Napoli start, Insigne reacted angrily to jeers from the crowd during his substitution.
"Jorginho had a good game. He is the kind of player who can help us change attitude during a match and that is important."
Benitez added: "Roma are a very strong side and have an advantage, as they only need to play one game per week. They are not stronger than Napoli, but it makes a huge difference preparing games in two days or in six.
"We played almost two months without Marek Hamsik and his quality is important for the side. We knew he could be a little tired after working so hard in the last two games."
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