The 23-year-old formed an impressive partnership with the England captain at Anfield this season as the Reds narrowly missed out on the Premier League title.
Gerrard is certain to start at the World Cup in Brazil, but there is fierce competition for the other midfield berths.
Henderson told Sky Sports News: "Since I've been at Liverpool, Stevie helped me a lot personally - on the field you pick up little things, training with him every week has really been a help to me.
"We've got to keep that relationship going as long as possible and hopefully bring it to England.
"Me and Stevie have played through the season together and it's worked really well at times. But when we come with England its different, I think it's up to the manager to decide whatever team he wants to put out."
Henderson is one of a handful of young Liverpool players in Roy Hodgson's squad, alongside Daniel Sturridge and Raheem Sterling, and the former Sunderland man said their confidence was soaring, despite the disappointment of missing out on the title to Manchester City.
"I think the lads at Liverpool are full of confidence and raring to go for the World Cup," he said.
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