The Belgium international striker scored 19 goals in 34 Premier League games in an excellent debut season for Villa in 2012-13.
However, Benteke's future at Villa Park looked in doubt when he asked to leave the club in July 2013.
Villa did not allow their star man to leave, though, and the 24-year-old is happy he stayed put.
"I don't have regrets about staying," he told the Daily Mirror.
"Every choice I made I accept but I would not do the same mistake and everything that happened before."
Benteke, who recently returned from a long-term Achilles injury, is now keen to repay manager Paul Lambert for showing faith in him.
"He signed me and gave me confidence and I try to pay him back on the pitch to try and score," he added.
"I have a special relationship with him. He is really cool with me and gives me a lot of freedom when I play.
"He also understood when you have a break while injured you come back fresh in your head.
"My injury was really hard but the fact I was with my family in Belgium helped me a lot. I forgot about football a bit."
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