The Reds are into the Champions League final after defeating Barca 4-0 on Tuesday night and 4-3 on aggregate.
Hendersons said, "Unbelievable. I don't think many people gave us a chance. We knew it would be difficult but still possible.
"The belief we have in the changing room is amazing. We knew we could do something special at Anfield. Look at the fans and the lads – this is a special night. This is up there with the best.
"We wanted to start fast. We got an early goal which helped. It wasn't just the goal, it was getting after them and putting them under pressure. We knew if we showed personality and heart then we'd have a chance."