The England U-21 international appeared to be on his way out of Anfield a year ago when he was offered to Fulham as part of a failed bid to sign Clint Dempsey.
Henderson rejected the switch and has worked hard to impress manager Brendan Rodgers, who selected the 23-year-old against Stoke on Saturday.
"It is always nice to play, I am sure that is the same for everyone," Henderson said.
"But we are a squad and there will be times when other people come in and I have to keep fighting for my place and hopefully stay in the team.
"The most important thing in your first game of the season at home is to win the game and that is what we got."
And Henderson was full of praise for new Reds goalkeeper Simon Mignolet, who saved a late penalty to secure a 1-0 victory for Liverpool.
"We had a lot of chances and we should probably have put it to bed a lot earlier but it wasn't to be and the most important thing was to win the game," he added.
"I thought Simon was brilliant with two brilliant saves at the penalty and the follow-up after that. That was magnificent.
"He was brilliant at Sunderland when I was there and he has been brilliant since he came into the club and he will get stronger and stronger and he will be fantastic for Liverpool.
"It is a good way to announce yourself at Liverpool."