The Reds received the trophy to mark their first league title for three decades after they beat Chelsea 5-3 at Anfield, and Henderson was thrilled to end the long wait to get his hands on the prize.
The Liverpool captain said: "We've been waiting a long time. Walking up there was amazing, the lads deserved the moment and thankfully the families were watching.
"To crown it off like that was really special."
The England midfielder received the trophy in an empty stadium due to coronavirus restrictions, and boss Jurgen Klopp said that the club "will have a party" once the pandemic eases.
Asked if he had a message to supporters, the German coach said: "If you don't see that we do it for you, I can't help you.
"You made us happy, we all should celebrate at home. Prepare for a party and when this virus has gone we will have a party."
Klopp was proud of his side for marking their celebration in style with a victory.
He told Sky Sports: "These boys are so special. I could not be more proud. Throwing a performance like this in on the pitch tonight ... it was an open game but nice, nice goals.
"Incredible goals, super footballing moments. I loved the game. We could enjoy it and we will enjoy the rest of the night."