The Reds ended their 30-year wait for a Premier League title in July.
Jurgen Klopp's men have now returned to preseason training, but Henderson says there has been no talks about their recent success.
"To be honest, we haven't spoken about it," Henderson told the club's website. "It's more about, 'Have you enjoyed your holiday?' We've been cracking on, really working hard. New season, new start and a lot more things we want to go on and achieve.
"[I'm] really excited to see what we can do this season, another big season for us. Hopefully we can take confidence from the last year or two but we need to stay hungry and need to keep the desire to go and want more.
"I can certainly see that from the first days that I've watched training in pre-season."