The interim boss leaves the Blues having won the Europa League and secured qualification for next season's UEFA Champions League.
As well as the impressive results, Luiz also believes Benitez has helped him improve as a player since replacing Roberto Di Matteo in November.
"He was an amazing coach for the team and for me personally," said the Brazilian, quoted in The Sun. "I learnt a lot from him.
"People said bad things about him but not many coaches can do what he does.
"He goes with a title and with us in the Champions League next year. The coach will change but the mentality must be the same."
Benitez went out on a high with a 2-1 home win over Everton on Sunday to guarantee third place, meaning Chelsea will automatically feature in the group stages of next year's Champions League.