Henderson captained the Reds to the Premier League title last week, something that eluded Gerrard during his 17-year stint at Anfield.
After coming close together in 2014, Henderson dedicated the win to his predecessor.
"Yes I have spoken to Stevie briefly," Henderson said. "I think I will speak to him over the next few days properly. But of course everything that he has done for me and this football club.
"I think the manager mentioned it last night, this is not only for us as players and the fans but it is also for players like Stevie, Kenny who mean so much to this football club and I know how much it would mean to Stevie to win the Premier League title.
"He is so happy for us to be able to do that. I was devastated in 2014 that we couldn't get over the line for him, but I know that he will be so happy and so proud of this team to be able to bring the Premier League trophy to Liverpool and, yes, this one is quite personal for me and definitely to do it for him is quite big.
"I have said this before when I first took over the role of the captaincy when people might have doubted me and criticised me as a person, but I will always say no one will replace Steven Gerrard at this football club no matter what captains or teams win.