The former Liverpool boss was greeted with a chorus of boos and banners calling for him to leave when he walked out onto the Stamford Bridge pitch for his first match in charge against Manchester City on Sunday.
The resentment stems from a fiery relationship between Liverpool and Chelsea when Benitez was at Anfield, with the Spaniard once saying he would never manage Chelsea and appearing to criticise Blues fans by saying they needed flags to get behind their team.
Chair of the Chelsea Supporters' Group Trizia Fiorellino said: "I think (an apology) would help for some fans. Even an acceptance of what was said would be a start.
"He's said he was trying to defend his club at the time but (then Chelsea boss Jose) Mourinho was the master of that and I don't think he ever directly ridiculed supporters of another club.
"It's quite a thing to try to undo but an acceptance could definitely bring some people back on board. I do think he's a tough sell, though."
Roberto Di Matteo, who won the Champions League and FA Cup in May, was also a hugely popular player at Stamford Bridge.