For me, though, he had to dive/jump on it to get it before Brentford striker could pounce.
If he'd have ran for it instead could he have then not fouled the striker who was going for it?
He dived on it to stop the ball rolling to the goal and also stop Brentford striker from getting it (John Terry clearly not going for it so only other player getting it was going to be the striker).
This, to me, is a more DOGSO back pass but only an indirect free kick is given and no card.
At the moment of the infringement, the player is stood directly behind Terry. He has to get round Terry and beat the keeper to it. Comes under 'unlikely to gain control' for me.