Goals from Javier Mascherano, Ryan Babel and Steven Gerrard gave the Reds a comfortable second-leg win after an early scare going a goal down.
"We showed character. It was a difficult game because of the pitch. We needed to be calm and do the job properly," said Benitez.
"To play better we needed to score our goal as they were dangerous at set-pieces.
"I think once we scored a goal everything was easier and the second and third goals made things better.
"Still we had some problems but the main thing was to score, we did it and we had more control of the game."
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