Henderson was outstanding for Liverpool this season forging a successful union with Gerrard at the heart of the midfield as the Reds finished second in the Premier League.
And Roy Hodgson rewarded the 23-year-old with a place in his squad for the Finals in Brazil, which get under way on 12 June.
England v Peru
International friendly
8pm, Friday 30 May 2014,
Wembley Stadium connected by EE,
Live on ITV
Henderson has nothing but praise for the way Gerrard has helped him develop as a player this season and hopes they get the chance to play together at the World Cup.
Speaking at St. George's Park, Henderson said: "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.
"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."
He added: "We play different tactics with England but that is up to the manager to decide which team he wants to play.
"Obviously after the last [Premier League] game everyone was a bit disappointed and that is natural but we are very proud of what we achieved. The lads with Liverpool coming to England are full of confidence and raring to go for the World Cup."
England meet Peru at Wembley on Friday 30 May - their final game on home soil before the World Cup. The last few tickets remain, so to make sure you don't miss out, click here to buy your tickets online.
