Henderson is part of the 23-man squad that travels to Brazil next month, and while Gerrard's place is assured as the skipper of the team, the former Sunderland youngster is not guaranteed a spot in Roy Hodgson's lineup.
The energetic Reds midfielder was one of the stars of the team last year as the Anfield outfit came as close to landing the title as they have done for the past 24 years.
However, with the likes of Frank Lampard, Ross Barkley, Jack Wilshere and Adam Lallana also in the squad, Henderson faces a difficult task of cementing his place in the starting XI in Brazil.
Despite the fierce competition, Henderson is hoping that his dovetailing with Gerrard at club level will count for something when Hodgson picks his team in South America.
The midfielder told the Football Association's official website: "There are a lot of options in midfield but I’ll keep battling. Hopefully I can force my way into the starting XI. Since I’ve been at Liverpool Stevie has helped me – on the field you pick up little things, training with him every week has really been a help for me.
“We’ve got to keep that relationship going as long as possible for Liverpool and hopefully bring it to England. Obviously, me and Stevie have played together throughout the season and it’s worked really well at times. But when we come with England it’s different – different tactics, different formations.
“It is up to the manager to decide whatever side he wants to put out and hopefully I will be part of it. The Liverpool lads coming to England are full of confidence and raring to go at the World Cup."The lads with Liverpool coming to England are full of confidence and raring to go for the World Cup.