The long-serving captain called an end to a trophy-laden 12-year career at Anfield in July when making a controversial move to Al-Ettifaq in Saudi Arabia.
Henderson has faced criticism for his decision to move to the Gulf State, where same-sex relationships are illegal, given his previous support for the LGBTQ+ community within football.
The England international revealed in an interview with The Athletic earlier this month that he no longer felt wanted at Liverpool, which played a part in his exit.
Klopp has confirmed the midfielder told the “truth” in his interview, revealing that he could not guarantee regular playing time as the club looked to rebuild.
“I read it after I heard about it,” said the German on Friday.
“Hendo told the truth, we talked and I told him there was a possibility of not playing regularly. If Hendo would have performed, he’d have played. I thought it was important to talk openly. Hendo is a super guy but he is not great when he is not playing.
"He was my captain. I didn’t want to lock horns because he thought he would be starting. He took that to mean we didn’t want him here. I couldn’t tell him he would start and that is why it is better that he moved on.”