City were forced to work hard for their 2-1 win.
Benitez remarked: "I think everybody knows how good this Manchester City team is.
"We had problems because they have too many options, too much depth. We scored and we were in the game and I was happy.
"Against this team you can't give the ball away as they press quickly you can't afford these mistakes.
"To stay in the game for so long and have a couple of chances at the end and is good, so in terms of mentality it is positive for us.
"We knew that Yedlin could be a threat with pace and after scoring the own goal last week it is important for a full back.
"It will be tough and difficult to survive but we want to be competitive. We were close to getting something and that has to be a good thing for the future and the team spirit. I am really proud of my players."