"I am happy we finished third - it was the same as last season - but obviously we want to go better than that next season," said Benitez.
"We aim to be contenders and we know we must improve, especially in our away form.
"I feel, though, that it is maybe only one or two games that make the difference. When you play against Manchester United, Chelsea and Arsenal you must beat them.
"If we can achieve improved results against the best sides, that will make us very much closer to the top of the table.
"That in turn gives you a different approach to games; when you are 12 points behind maybe you think things are not possible.
"I have said all along that we are a better squad but other teams also spend money on new players and we must try also to improve the team. We must be closer and we must be contenders."