Beale, who spent a decade at Stamford Bridge himself, believes he may never have realised his potential in west London.
Asked about returning to England in future, he told Sky Sports: "Things are going very well here [Sao Paulo].
"In the future I'd love to come back and be a manager in the Premier League but we know how difficult that is.
"Look at my ex-colleague Paul Clement and the journey he had to make to get this opportunity at Swansea.
"I'm not sure he'd have got that opportunity if he'd stayed as Chelsea's Under-23s coach.
"You have to go out and develop yourself. I'd love to see more English coaches take the same journey."