Catalyzes the ligation of benzoate and CoA to form benzoyl-CoA at the expense of ATP. The enzyme also ligates 2-aminobenzoate and CoA. The enzyme shows activity toward a number of benzoate derivatives. ATP + benzoate + CoA = AMP + benzoyl-CoA + diphosphate Optimum pH is 8.5. Monomer. By benzoate and 2-aminobenzoate. Belongs to the ATP-dependent AMP-binding enzyme family. Benzoate-CoA ligase subfamily.