He said "obedience to my successor has never been a question."
Benedict was speaking of his "communion and friendship" with the pontiff after Pope Francis' attempt to bring the Catholic Church into the modern day has been criticised by conservatives.
Speaking in La Rebubblica, Benedict also revealed why he stood down as pope three years ago.
The German former pope said he had become too frail to endure lots of long haul trips abroad.
During his time as pope he was scheduled to visit Brazil after a trip to Mexico and Cuba, the 89-year-old said: "I no longer felt able to carry out such a demanding journey."
After discussing options with his doctor he decided that global travel was not an option.
He now lives by the heart of the Vatican, a short walk from St. Peter's Basilica in Rome.
