Benitez's tenure as interim boss ended as Chelsea completed their post-season tour of the United States with a second match against Premier League rivals Manchester City.
Torres said of his fellow Spaniard: "He came in in a difficult situation, 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 (Europa League) with Chelsea."
Mourinho is expected to take charge at Stamford Bridge for a second time after the Spanish season ends next weekend and Torres admitted the prospect of playing for the Portugese was an exciting one.
"It looks like Jose is one of the managers who can come to Chelsea. Everyone is talking about that, we will see," he added.
"If he comes it will be great to have the chance to work for him and it will be a big challenge for everyone."