Following a knee injury sustained in November before Benitez's arrival, Terry made just his third start under the Spaniard in Sunday's 4-0 FA Cup fourth-round replay win over Brentford at Stamford Bridge.
Benitez and Terry felt the need to rebuff a report of a disagreement between the pair.
"He's quite positive," Benitez said. "He knows that the main thing is the team winning and if he can play, much better."
Terry told ITV: "It's good to have competition.
"The manager knows me and I want to play. I have been out for two or three months, but the other two (centre-backs) have been doing well."
Branislav Ivanovic and Gary Cahill started in last Thursday's defeat of Sparta Prague, with Terry an unused replacement for a fifth time under Benitez.
Terry could again find himself among the replacements on Thursday for the second leg of the Europa League clash, with Sunday's Barclays Premier League clash at Manchester City in mind.
Victor Moses, David Luiz and Demba Ba also returned against the Bees, with Benitez happy with the options at his disposal.
"When you have players available you can manage in a different way," he said. "You can change player and they still keep the intensity in the team."