Pearce has not been handed a role in Roy Hodgson's backroom since the former West Brom chief's arrival, and did not travel to Euro 2012.
Henderson said: "He's been brilliant, to be honest. He always has been, since I've been in the Under-21 squad, and I'm sure all the players would say the same.
"He's a great inspiration and a great leader for everyone involved. For us, he's brilliant. And he's someone that we definitely look up to.
"Of course, he's definitely got a role (to play) in the senior team. It hasn't really got much to do with me, I don't know what goes on, but for us he's a great manager and a great leader."