The midfielder fell out with Benitez after choosing to stay behind for the birth of his son rather than travel with the squad for their victory at Inter Milan.
Xabi told liverpoolfc.tv: "Of course you always want to play but also you know that, when you are playing, some of your teammates are maybe on the bench or the stands. You have to accept that it's part of your job and be professional. You have to work hard to get an opportunity and play well when you do.
"I am really happy here and relaxed. I am focused on Liverpool."