The Chelsea legend told Sky Sports’ Off Script show: “From a tactical point of view I was looking forward to working with him.
“You could say he was quite successful, we won the Europa League under him, of course, but for me personally you want to develop and learn.
“I’d seen tactically how he’d set up against us previously and stuff. Like everything, you give everyone a fair chance and it’s down to them to prove to you otherwise.”
The Spaniard had a long standing feud with ex-Blues boss Jose Mourinho after Liverpool knocked Chelsea out of the Champions League semi-final, thanks to a controversial Luis Garcia goal.
He added: “We just didn’t get on from day one personally, to be honest.
“Every meeting we had it was, ‘Oh we used to do this at Liverpool and we done this’.
“You laugh but that’s what he used to be like, ‘Just move a yard here’,
“I actually had to have a few conversations and say, ‘Gaffer, you have to forget Liverpool, you can’t keep saying ‘we’, you’re at Chelsea now, it’s not going down well with the lads’”.
Terry was often benched by Benitez despite being one of the most influential players in the squad at the time.
Jorginho shows his skills in Chelsea training ground shootout
He added: “We didn’t get on from day one, he left me out at certain times, I didn’t play much under him.
“I was injured when he arrived, and then I struggled to be fair. I was out for probably six weeks, but then I was working back towards fitness.
“I played in a couple of games, away at Fulham, scored two, he dropped me for the next game. It was all those little bits that added up.”