The Spaniard guided Chelsea to Europa League glory and also helped them qualify for next season's Champions League after being brought in last November.
Former Chelsea manager Jose Mourinho has been widely linked with a return to Stamford Bridge this summer to succeed Benitez.
Asked about his plans and a link to Napoli following Chelsea's 5-3 defeat to City in New York, Benitez told Sky Sports News: "I am going to London now.
"I want to be in a top side so that we can play in the Champions League, if that is possible."
Benitez faced hostility from many Chelsea fans when he took over following the sacking of Roberto Di Matteo but was pleased to have delivered success to Stamford Bridge.
"I think it was a good challenge and I enjoyed it at the end, added Benitez.
"We won a trophy, (we reached) some semi-finals, a final (and finished in the) top three so I am really pleased because a lot of people at the start, people around players, they were pushing and pushing.
"I am really pleased for everyone."
Benitez's one regret is he will not be able to continue with the development of Chelsea's rising stars.
"When you have some good players growing and improving you like to stay with them," continued Benitez.
"I am really pleased because the job is done."