Walcott - a controversial omission from Fabio Capello's ill-fated World Cup squad - believes he could not have had a better mentor than Henry, who left Arsenal in the summer of 2007 for Barcelona and now plays in the United States with New York Red Bulls.
"I have watched videos in the past and I had the best thing - training with him and the opportunity to play with him," recalled Walcott.
"I have not kept in contact with him at all - he has more important things to cope with, but he will always be in my heart. I will always look up to him and you never know, one day he might return to Arsenal.
"I was lucky enough to learn from him. If he does come back, it would be great for the club."
Walcott added: "Everyone has talked about us. If I do half it is a great achievement, but I want to be my own player and want to learn from the best."