The German says Milner and Henderson have epitomised the hunger that has driven Liverpool's success this season.
"The best piece of character of this team is the constant readiness for development," Klopp said.
"Take James Milner. He is 33 now, but he's still developing. He's taking really big steps, calming down here and using his unbelievable skills in better moments.
"He's an example, like Henderson. They always want to make the next step; it's just in them, and it helps a lot."