The Uruguayan star joined the Liga giants in a deal worth a reported £75 million despite carrying a four-month ban for biting Italy defender Giorgio Chiellini at the World Cup.
Suarez scored 31 Premier League goals in just 33 appearances in the 2013-14 campaign, helping Liverpool finish second to Manchester City and return to the UEFA Champions League.
But Henry, who saw Liverpool's 1-0 friendly loss to Roma in Boston on Wednesday, said manager Brendan Rodgers' attack would still be "very explosive".
"It was time for Luis and time for the club to make a break," he said.
"He brought so much to the club but we brought a lot to Luis.
"I thought we needed more depth; last year we needed more depth, and we're playing a lot more games this year with the Champions League.
"I think you will still see a very explosive Liverpool offense."
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