Both players have spent the majority of the opening months of this campaign on the treatment table, as they recovered from various injuries.
Sturridge has been out with a series of niggling injuries, while Henderson was out after breaking his foot in training back in September.
They both featured from the bench in the 1-0 win over Swansea City in the Premier Leagueon Sunday, and Milner was delighted to see them returning, despite having to give up the captain’s armband.
“It's amazing to see those two back, they're top players," he told liverpoolfc.com.
"Any team in the league would miss them so to get them back is great. It's a great honour for me to wear that armband but I'm delighted I've passed it on to Jordan.
"It shows the depth that we've got in the squad now, you look at the bench [against Swansea], how strong it was, and there are still a number of players out."
Of both players, it is surely the return of Sturridge that will excite Liverpool fans the most.
The likes of Emre Can and Lucas Leiva have impressed under Jurgen Klopp so far, with the loss of Henderson having not been as big as many fans feared.
Up front though, the struggles still remain with Christian Benteke struggling to make the impact he would want and Divock Origi a work in progress, while Danny Ings is out injured.
Sturridge will be warmly welcomed back, with fans hoping that he can get back to the kind of form he enjoyed playing alongside Luis Suarez.