Meanwhile, Arsenal are without centre-back duo Per Mertesacker and Laurent Koscielny.
Firmino takes Jordon Ibe’s place in attack, while Can and Lucas come in for Henderson and Adam Lallana, who is nursing a reported leg muscle injury.
Elsewhere, Rodgers has kept his faith in the back four that have so far contributed two clean sheets from two games, with full-backs Nathaniel Clyne and Joe Gomez flanking preferred centre-back pairing Martin Skrtel and Dejan Lovren.
Mamadou Sakho is named among the subs for the first time this season, and is joined by young midfielder Jordan Rossiter. Danny Ings is still looking for his Reds’ debut.
James Milner will wear the captain’s armband in Henderson’s absence.
Before the Reds’ visit to the Emirates Stadium, Firmino told reporters that he was “working hard” to earn his first competitive start in a Liverpool shirt.
“That is my aim but there’s a healthy competition in the squad right now and the manager knows who should be starting games,” he said.
“So all I can do is keep on working so I will be ready when I am given the chance to start.”
With tonight representing an important fixture in the race for the Premier League‘s top four, Firmino will shoulder the hopes of an expectant support.
Liverpool XI vs. Arsenal: Mignolet, Clyne, Skrtel, Lovren, Gomez, Milner, Can, Lucas, Firmino, Coutinho, Benteke.
Substitutes: Bogdan, Sakho, Moreno, Origi, Ings, Ibe, Rossiter
Arsenal: Cech; Bellerin, Chambers, Gabriel, Monreal; Coquelin, Ramsey; Ozil, Sanchez, Cazorla, Giroud.
Substitutes: Ospina, Debuchy, Gibbs, Flamini, Oxlade-Chamberlain, Arteta, Walcott.