The defending champions were beaten 2-1 at Wembley Stadium on Sunday as City made it through to their second final in three years.
"I am really disappointed with the result," Benitez told BBC Sport. "When we played with Fernando Torres, the team had more energy.
"If you see the performance in the second half, the players will know they can do well in the rest of the season. You could see we had energy, quality and desire."
Chelsea return to Premier League action on Wednesday when they make the short trip to neighbours Fulham.