Benitez's tenure as interim boss ended as Chelsea completed their post-season tour of the United States with a second successive loss to Manchester City.
The Blues were beaten 5-3 at Yankee Stadium in New York, two days after losing 4-3 in St Louis.
But those results hardly mattered and after taking charge amid much fan hostility due to his Liverpool past, and overseeing Europa League success, the Spaniard leaves in positive circumstances.
Countryman Torres, who captained the team in the Big Apple, said: "He came in in a difficult situation, personally, for him with the reaction of the fans and the team were not doing well at the time.
"It takes a bit of time to do better but after that, at the end of the season, the team was much better than at the beginning.
"He has helped the team, the team has been good. The players are better.
"I think he came to do a job and he did. He must be happy because he won a trophy with Chelsea."
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