Henderson spent last season on-loan at Hart's formative club, Shrewsbury Town.
"It's weird, actually," Henderson told manutd.com. "Joe was always my idol growing up, being England's no.1, and I always admired him. To play against him this year at his hometown club, was really an honour for myself. We had a good few words afterwards and exchanged numbers. He keeps in touch with me now and gives me good advice when I need it.
"He's been a real good role model for me over the last six months and really given me some good advice over what to do, where to go and to keep playing games to get there eventually, because he says your talent will shine through."
"It was funny [how the friendship started]. It was the first international break after the summer and he was like: 'You're the one who went to Shrewsbury, Deano, aren't you?' We got chatting about a few places, where he hangs out in Shrewsbury, and he was telling me places to go to eat and things like that. It was where the connection started and then, obviously, we drew them in the FA Cup. It's been good to get to know him over the last year and he's been a really big help for me."