Speaking ahead of England's clash against Peru on Friday, Henderson revealed that 33-year-old Gerrard has contributed to his growth this season and that he wants to maintain his relationship with the Liverpool captain for as long as possible.
"Since I have been at Liverpool, Steve has helped me a lot personally on the pitch. You pick up little things when you train with him," Henderson told the FA's official website.
"He has really been a help to me and hopefully I can keep the relationship going for as long as possible for Liverpool and for England. I feel like I am improving all the time when I work with the staff and players at England. I have just got to keep working hard and keep doing what I am doing.
"Me and Stevie have played throughout the season together and it has worked well at times."
Henderson is one of a host of young midfielders looking to break into Roy Hodgson's starting XI at the World Cup next month.