The Merseyside club are currently joint top alongside Arsenal, but Henderson believes they still have room for improvement and insists they can challenge for the Premier League crown.
“The results have been pleasing, but there is a lot of improvement for us as a team,” he told reporters. “We have a lot of work to do still; we need to continue building on what we have achieved so far.
"We are not playing at the level we know we can. The manager has spoken a lot to us about continuing to improve – it’s frustrating when you see in training how good we are as a group.
"We've got a lot of good players and he wants us to perform at our best every single game and at the highest level.
"We know we can get better. At the moment, we are scoring goals and we are good going forward, but there are a few areas the manager wants us to improve on."
Since returning from suspension, Luis Suarez has formed a deadly partnership with England’s Daniel Sturridge, both of whom scored during last weekend’s 3-1 win against Crystal Palace.
And Henderson believes Liverpool can compete for the Premier League if they keep both players fit.
“We know we have quality though, especially up front,” he added. “We are as good as anyone going forward and that will be important over the course of a season.
“We know the two up front will score goals, and in tight games, that can be really important. They can be a massive factor for us this season, because their goals can turn tight games.”
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