Liverpool ensured their passage into Europe’s elite competition after a convincing 4-2 win over Hoffenheim.
Emre Can helped himself to a double, while Mohamed Salah and Roberto Firmino also got on the scoresheet.
The Reds, who secured a top-four finish last term, weren’t involved in the Champions League last season.
Skipper Henderson is delighted his side will be in the group stages, but admitted they still have to fine-tune some things.
Speaking after the game, he said: “It has been a brilliant night, the atmosphere was brilliant all night and we were brilliant at the start and set the tempo.
“We let in a couple of goals so we have still got things to work on but overall we’re delighted to get back into the Champions League where Liverpool belong.
“Getting back in to the Champions League was our aim and we’ve done it.
“Now when we get into the Champions League itself we have got to do ourselves justice and win some games there.
“I’m delighted for the lads and the fans.
“We’re in there and we’ve proved we can play against big teams.
“We’re happy to play against whoever we’re drawn against.”
The Reds will take their place in the hat for the Champions League draw tomorrow (5pm).
