The Eagles were thumped 40-4 by Rovers at the Halliwell Jones Stadium in 2011, and they are determined to put that right when the sides meet again at Warrington this weekend.
Henderson said: “Last year was disappointing but Featherstone were a very good, experienced side and extremely determined,” he said. “We went into the game with a few injures, we lacked a little bit of experience and realistically we were probably one game too far.
“This year we have had a better season we have played better rugby which has resulted in improved performances. Our squad is stronger this season and I believe we have the focus to win.”
Sheffield have been in fine form during the Championship play-offs, picking up wins against Batley, Halifax and Leigh.
He added: “We have shown effort, determination and a lot of character this season and especially during the play-offs. You have to be confident going into games and I’m sure we will but we also know there are still areas for us to work on in training this week.”
Featherstone, who finished top of the league ladder for the third season in a row, were held to a 28-28 draw by the Eagles back in August.