The Spaniard, who is currently the interim manager of Chelsea, was in charge of the Reds from 2004 until 2010.
"I will return, almost certainly," he told Marca when asked if he would manage Liverpool in the future. "What I do not know is when. My daughters and wife still live there."
On his plans for next season, Benitez said: "My idea is to train a competitive team. Why not in England? We will have to wait and see. Everything will be worked out."
Benitez led Liverpool to Champions League triumph in 2005 but failed to win the Premier League with them.