The Spaniard was named as interim manager of the Blues following Roberto Di Matteo's dismissal in 2012.
Fans were angry about the appointment due to Benitez's connection with Liverpool, but the 59-year-old does not regret the move.
"It was a very easy decision because it was a top club with top players," Benitez said.
"What I have to say is that the board, the players and the staff were always very supportive.
"I think the majority of the fans appreciated what we did at this time. I was really happy to perform and do what we did.
"I hope that history will look back and see we did a good, professional job and that we were successful. I still have a great relationship with a lot of people there."