auto_increment unable to recognize deleted rows in MYSQL

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I've been messing with mysql for the past 3 hours and came to realize that the auto_increment is unable to recognize deleted rows.

What i mean is when i delete a row with id of 4, and then add another row, the auto_increment will give the new row a id of 5 instead of 4.

The end result will be 4 rows with ids: 1, 2, 3, 5 instead 1, 2, 3, 4.

Is there a way to fix this?

If not, is there a benefit to the auto_increment increments.