The Senegalese forward moved to Bayern Munich earlier in June for a transfer of £35.1 million, after scoring 120 goals in 269 games in a spell that lasted six seasons.
Liverpool captain Henderson said the entire squad misses Mane as he’s one of the “best players in the world”.
Speaking to talkSPORT, he said: "I think any team in the world would miss Sadio.
"For me, he’s one of the best players in the world and one of the best characters around the dressing room and around the place.
“He’s a great lad, always smiling and joking around and just really good to have around. Setting standards as well. Big miss for us, but that’s football. Life goes on. I wish him all the best and hope he does well at Bayern."
The Reds have signed Uruguayan player Darwin Nunez for an upfront fee of £64 million and the 23-year-old striker has made a promising start by scoring on his debut against Manchester City. Henderson believes that the player could help Liverpool as they hope to better last season and win the Premier League title.
He added: "I’ve been really impressed with him. He’s still a very young boy, but I’m seeing a lot of positive things, a lot of good things.
“I think he will give us something different as well up front. There’s a lot of potential there and he’s settled in, so hopefully, he can start the season off in the Premier League really well."