Zenden, who played under the Spaniard at Liverpool back in 2005, will experience his first taste of football from the sidelines at the weekend having held no previous managerial role prior to linking up with the Blues on Thursday.
Yet despite his relative inexperience, the 36-year-old insisted that when the call came from Benitez, he was more than willing to accept the challenge.
"He [Benítez] called me on Wednesday and said: 'Be sure you're in London before 13:00 tomorrow because we're going to work at Chelsea' and then hung up on me." he told De Telegraaf.
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"If Rafa, with whom I worked for two years, speaks very positively about you and gives you this chance, you have to be very proud.
"If he wanted information about a player, he always called me. I have been at many clubs and know a lot of people because of that. As a pundit I worked for Sky, ITV and Al Jazeera and saw a lot of matches."
The former Netherlands international also hinted at what he hopes to be a long career in management, stressing the need for him to obtain his coaching badges as soon as possible.
"I don't have a diploma, but in England you're allowed to be an assistant anyway." he added.
"Of course it's my intention to get the missing papers in the short-term, then we have that problem solved.
"At first I will get my papers in England, because that's the easiest way to a diploma. In that way I can sit on the bench anywhere. In the future I would like to get my Pro License in Holland."