The Reds reached the group stages of European football’s premier club competition with a 6-3 aggregate victory over Hoffenheim.
And afterwards Henderson said: “It was a brilliant night.”
“We set the tempo and scored some good goals early on,” he explained.
“We still can improve on the goals we conceded but overall we’re delighted to be back in the Champions League, where Liverpool belong.
“We need to make sure we do ourselves justice. They are big nights for everyone and I’m delighted for the fans and the lads.”
The draw for the group stages takes place on Thursday and the Wearsider added on BT Sport: “We’ve proved we can play against big teams and do well. We’ll play whoever we get.”
Liverpool boss Jurgen Klopp added: “It feels absolutely amazing.
“My team played a perfect first half an hour…but Hoffenheim never gave up. 3-0 is usually a real knock but they were here to enjoy the game.
“You cannot imagine how much intense pressure there was on the boys before this game. We tried to put it away of course and the boys did outstandingly good.
“We should be [in the Champions League] and we are really excited about who we get. We’re really looking forward to the draw tomorrow.
“But I’ve told the boys ‘have a party’. For sure that’s what we should do, really enjoy tonight at home, the performance of today.
“I love the attitude of this team because they really fight.”