England international Henderson arrived at Anfield from Sunderland in the summer in a deal worth up to £20million.
Henderson has started every league match for Kenny Dalglish's side so far this term, but is yet to really find his best form.
But Lucas insists that fellow midfielder Henderson is improving and just needs to find his confidence.
"I don't blame the young players because I have been in their position for a few years. He is English and has already adapted to the Premier League," he is quoted by The Guardian.
"But to change your club and move to a big place like Liverpool is difficult. I think he is playing well. He will get confidence when he gets more minutes and understands the role he needs to do more.
"We just have to keep encouraging him and give him the confidence to keep improving.
"We can see he has the attributes to be a good player but he is still very young and we just have to give him time and be patient. Then we will see he is a good player.
"We can see in training that he likes to work hard and that is the main thing. As long as you are working hard every day, your opportunities will come. He will be ready to show his best form if we don't rush him and give him time to settle."