Madrid aren't as good as they were in recent years but not by as much as most seem to believe, they have a better defence than they had before, their midfield has aged but is still brilliant on its day and Benzema is probably the best player in the world this season.
Again Liverpool were kicked out of the CL by Madrid last season, also didn't blow PSG away two years before. City are the best team in the world on account of their consistency but they can definitely be gotten at by any of the other teams mentioned