The Blues took the lead twice against their London rivals, but were pegged back on both occasions by Tottenham, and the Spaniard also complained about missed opportunities
The Blues took the lead through Oscar early in the first half, but Emmanuel Adebayor leveled things up with a stunning strike after 26 minutes.
Ramires gave the hosts the lead before halftime, and there were plenty of missed chances for Benitez's side before Gylfi Sigurdsson earned a point for the away side with his strike 10 minutes from time.
"I think that we had four or five counterattacks to finish the game, and we didn't do it," Benitez told Sky Sports. "[Spurs] were pushing and we had to defend but we had the chances on the counterattack to score the third goal and finish it. We could defend both [goals] a little bit better because we are talking about transition defending when we conceded the first goal and with the second it was the same.
"I think [the second] was offside anyway, the position of Adebayor - but we still had to stay more compact and be more aggressive in defense. The second half was too open. In the first half we had control of the game, we gave them the opportunities to play on the counterattack and it was a great goal.
"When we were winning the game we had to have more control and all the counterattacks that we had we didn't finish so it makes a big difference. We are in the position we said before, we have to win one game to guarantee the top four and we will try to win both to get in the top three.
"I think that we had the chances, not clear chances in front of the keeper but in the counterattack you have to do something more. We had the chances to score the third goal, but we didn't do it and as you say credit to Tottenham because they were pushing and attacking."