The England veteran joined the Bees in the summer from Ajax and has discussed why he chose the Londoners when returning to the Premier League this summer.
He told the club's website: “I spoke to Phil Giles and Lee Dykes and they were very honest. We had conversations just talking about football, which I really enjoyed.
“They talked about things they thought I was good at, and then things I could improve on. The second bit was important because, even at my age, I wanted to be able to learn and get better.
“That was a good way to get a good feeling about the club and the management of the club. It just highlights that they want to improve the young players, but also help the older players coming in as well. I like that.”
Henderson added: “Keith (Andrews) was very clear and honest with what he wanted. He told me what he thought about the team and the group, and what he thought was possible to achieve.
“He thought that I could come in and help the group, on and off the field, and I just got a good vibe when speaking to him.
“I’ve heard a lot of other people I know speak about him too and it was all good things.”
Leadership
On the youth of the squad, Henderson is happy taking on a senior leadership role.
He also stated: "It is a very young group - or maybe that’s just me feeling old!
“I want to try and help those younger players be better. I want to lead by example.
It is a very young group - or maybe that's just me feeling old! I want to try and help those younger players be better. I want to lead by example.
“There are some really good players here, and some really good professionals as well. A lot of the lads are in the gym before training and after training, and they work really hard.
“It’s just about bringing all of the experience I’ve had over my career and trying to help the team as much as possible.
“I even learned a lot last year at Ajax, with it being a different culture and a different way of playing.
“There will still be things that I’ll be learning at Brentford. It’s not the case, because I’ve played a lot of games and I’m at the age I am, that I know absolutely everything about football.
“But there will be times when I feel like, ‘I’ve been here before’, and it might be helpful to pass that knowledge on to my team-mates.”