The Reds were handed the title with seven games remaining after Manchester City lost at Chelsea.
And the Liverpool skipper insists none of their success would be possible without the German.
Sharing the full story, not just the headlines
“It’s an amazing feeling you know, I’ve not wanted to speak about it for a long time,” Henderson told BT Sport.
“We’ve finally done it, we’re over the line, proud to be a part of it. This football club is so special to be a part of. I’m just lost for words.
“It wouldn’t be possible without the manager. From day one since he came in, inside the club, outside the club. The players he brought in.
“It’s been incredible and a joy to be a part of it. We want to keep going and hope this journey will last longer.”
The Reds can still rewrite the record books of English football, with City’s record Premier League point total of 100 within reach, and Henderson maintains that will drive them on to finish the campaign strongly.
He added: “Tonight is all about enjoying it and celebrating of course, but after that, I know what the lads and manager are like. We’ll want to win every game.
“We want to give everything. We have a tough game against Manchester City, how good they’ve been.
“It’s a tough game. But we want to finish the season strongly, win as many games as possible and take us into more records.”