The Gunners eventually booked their place in Friday’s last-16 draw with a thrilling second-leg win in Athens that saw Aubameyang net a crucial winning header just three minutes from time.
The captain also gave Arsenal the lead on the night with a deft dinked finish following Bukayo Saka’s smart through ball.
However, it was far from plain sailing from there at the Georgios Karaiskakis Stadium, with Diogo Goncalves netting a stunning free-kick on the stroke of half-time for Benfica and Dani Ceballos’ blunder then allowing Rafa Silva to strike what seemed like a decisive blow.
However, Kieran Tierney hit back quickly for Arsenal to set up a grandstand finish, with Saka and Aubameyang later combining again to rescue their season.
“I think everyone is happy tonight,” Aubameyang told BT Sport. “Definitely, I had this in my head, but this is what gives me power every day, to take the error from the past and transform it to strength.
“Tonight I’m really happy that we won the game.”
On the comeback, he added: “The team showed character, a lot of character and I think we deserved the win. It was a hard game, but tonight I’m really happy for the team.
“What we showed tonight, I think it’s going to be an example for the future.”