Jose Mourinho’s side won the Premier League title with victory over Crystal Palace last weekend and when they run out again at Stamford Bridge, the visitors are expected to offer their congratulations, as has become the tradition over recent years.
Henderson admits it will be “difficult” for Liverpool, who were runners-up last season but have not been in the title race this time around, to applaud their rivals.
But he feels it will serve as inspiration for a team who go into the game fifth in the table and with a place in next season’s Champions League looking increasingly unlikely.
“You have to respect the team because they have been the best team over the season,” said the Reds’ vice-captain.
“Of course, it will be difficult doing that but you have to pay your respects.
“If that (guard of honour) does happen, you have to remember the feeling that it is what we want to achieve.
“You have to bottle that and make sure next season we can have a really good go and use it as motivation and drive to push on.”
By the time Liverpool arrive in west London, their top-four hopes could have diminished further if Manchester United have won at Crystal Palace 24 hours earlier.
It would mean the gap before kick-off would be seven points, necessitating a victory at a ground where they have lost 12 of their last 18 league meetings.
Henderson feels Liverpool have the character to get results against their top-four rivals.
“I felt we did well at their place in the Capital One Cup – and here (Anfield) – against them,” he added.
“Both legs I felt we performed well and probably deserved to go through but at the end of the day, they went through and eventually won it.
“When we go back there, we have to play the same way we did the last time we were there and if we do, we have a good chance of getting something out of the game.”
Watch Chelsea v Liverpool on Sky Sports 1 HD from 3.30pm on Sunday