Benitez signed a fresh five-year deal with the Premiership side on Wednesday evening after months with speculations.
“I have never been worried about whether he was going to sign because I know that Rafa has such a passion for Liverpool,” Hicks told Sky Sports News.
“I have looked him in the eye and I know that. But these things are complicated. A five-year contract is complicated and I am relieved we have finally got it done.”