Klopp apologised for not playing Henderson in an advanced role sooner after he excelled in Tuesday night's 2-0 win over Porto.
The change worked wonderfully for the Reds, and Henderson says he spoke with Klopp about playing in a box-to-box role.
"Me and the gaffer just had a conversation," said Henderson.
"Obviously he saw the England games. I felt good playing in that position. I felt more natural and it was something he said he would think about.
"I can do both positions and he sees I can do both. It's basically what he wants and needs. I felt more comfortable and natural in that position for England, creating chances further up and doing what I enjoy doing. At the same time when I played No.6 I felt I've learned that position really well.
"I don't think the manager had thought about it too much until I mentioned it to him… the manager might not have seen me in that position too much. It's all about putting the team first, I know that, but at the same time I want to contribute as much as I can. I feel as though I can do that more in a position further forward.
"In the last couple of years there hasn't really been a player like Fabinho in that role, so I've had to adapt to that role. I think I've done quite well. I think if you look at Fab, it's quite natural to him, that's his position and he's so good at what you need to do in that position.
"I just thought that might give me a bit more license to get forward more. The manager wants me in both positions, which is good for me and for the team."