The 30-year-old became Carlo Ancelotti's first summer signing and will meet up with his Blues team-mates when he reports for pre-season training on Monday.
"Everything looks lovely. It is a great training ground and you can see it is one of the best clubs in the world from the way the people here treat you," he told the club's website.
"I met a few of the staff and the players I know a little bit from playing. It is a good challenge for me and I am ready for it.
"There are a lot of good players, big players. For me it is the beginning and I have to work hard and prove I can bring something to this club.
"The only thing I can promise is I will work hard and do my best, and hopefully it will be good enough."
His last appearance for Liverpool at Anfield was against Chelsea two months ago when the visitors triumphed 2-0 to move a step closer to the Premier League title.
"The last home game I knew it would be my last for Liverpool," Benayoun said. "I tried to do my best but Chelsea were strong.
"All the years here in England, five years, Chelsea were always a difficult side to play against with big players and that's why they are always there at the top, fighting for trophies - that's why I am glad to be a part of it now."
There were other offers on the table for Benayoun but he admitted it was a straightforward choice when the champions came calling.
"I had offers from a few teams, but when Chelsea came in for me it was the obvious and only thing to think about, and I am glad it came out in the end," said the former West Ham man, who penned a three-year contract at Stamford Bridge.
"I leave a great club at Liverpool and I had a great time there, so I am very grateful for them also."