A 1-0 win over Ajax on Tuesday night saw the Reds through as group winners, with one game to spare.
That has been achieved despite a spate of injuries which leaves nine current first-team options sidelined, with goalkeeper Alisson and midfielder James Milner the recent additions to the list of absentees.
Henderson praised the efforts of those coming into the side and securing the win, even if a few chances were spurned along the way.
“The boys gave it everything for the full 90 [minutes] and we deserved a win. We should have scored more, we were unlucky not to win by two or three but the lads did well and we also got the clean sheet,” Henderson told BT Sport.
"We take the three points, qualify and now get ready for the weekend.
"We know the injury problems we’ve got of late but I feel like the togetherness is big in the dressing room and things like this make us stronger. We showed character tonight to dig out the three points.
“[The final fixture against Midtjylland is] a nice game knowing we’re top and qualified which is really important.”
Stand-in goalkeeper Caoimhin Kelleher made a great late save to preserve the win and he pointed out that he, goalscorer Curtis Jones and the other youngsters in the squad are pushing for game time, not just making up the numbers in training.
“That’s what we’re there for, it’s not just to take part, it’s to push every day and play as many games as we can. We’re here to improve the team.”