Henderson joined Reds boss Jurgen Klopp at his pre-match press conference as the duo discussed the Reds' test on Tuesday night.
Bayern have come under criticism for being below par so far this year, sitting in second place in the Bundesliga behind Borussia Dortmund.
However, they still pose a difficult test for the Reds and Henderson is insistent that Liverpool will not underestimate the five-time winners.
“Everybody knows how good they are as a team, they’re only two points off Dortmund,” he said.
“Over the last few years they’ve been semi-finalists and finalists for a consistent period, which is tough.
“They’re a world-class team, we know that it will be tough.
“But at the same time, we’re confident if we can play the way we know we can, we can cause them problems.”
“Of course, he’s a massive miss, I think he’s played every game this season,” he told reporters at Anfield.
“You can see how important he is to us as a team, but at the same time I feel as though we’ve got enough quality in the team to be able to cope with it.
“We’re not just relying on our two centre-halves to defend, it’s up to the whole team to defend really. We do it together.
“Whoever plays there I’m sure will know the role, and what’s expected of them, but of course he will be a big loss.”
Keita endured a slow start to his Reds career but has shown glimpses of promise in recent weeks and Henderson insists his teammate is ready to show his quality.
“I think everyone can see how good Naby is as a footballer, but as I know myself coming to Liverpool, it’s such a huge club—and especially changing to the Premier League—is tough,” Henderson said.
“It takes time to adapt. I think he’s done really well in certain games he’s played and I can see him getting used to the way we’re playing.
“And the manager has helped him improve, and I can definitely see the potential you can see coming out of him.
“At the same time it takes time to feel right at home, but in the last couple of games you can see the quality that he gives the team and how good he is.”
Liverpool vs Bayern kicks off at 8pm on Tuesday night and you can keep up with all the action via LFC Globe's live match-day coverage.