Laurent Blanc's men were dominant for much of the Champions League Group A clash but Nacho scored what proved to be the winning goal after 35 minutes at the Santiago Bernabeu.
Benitez has been criticised for an unattractive style of play this season but is adamant that better performances are around the corner when the likes of Karim Benzema and Gareth Bale are available.
"We're qualified so we are happy," Benitez told reporters after the win, which sealed Madrid's progression to the knockout phase.
"The team is still improving and we are still getting players back from injury. We've qualified and we'll be stronger when we have the others back.
"PSG are a top team. We've won and we've suffered, but we're top of the group without conceding a goal. It's a positive against a difficult opponent.
"The performance here gives more value to the result (a 0-0 draw) in Paris."