The 32-year-old replaced Nicolas Anelka in the second half for the second time in as many games having also come on for the Chelsea striker in Wednesday's 2-1 win over Costa Rica in Lens.
"I had a chat with the coach, he told me that I wouldn't be starting the game," Henry told L'Equipe.
"As I've often said, the most important thing is the team. I try to come on and to give something, give some movement when I'm called on.
"We're not here to know who will play and who won't play. No one is above the team, we're all in this to go as far as we can together."
France had to rely on a second-half equaliser from defender William Gallas, who impressed after his recent injury concerns, to claim a draw away to a Tunisia side who failed to qualify for South Africa.
Henry admitted France had failed to play to their potential, but believes the best is yet to come as they finalise preparations after their training camp in Tignes.
"I'm not saying we will go to the World Cup and win our matches 3-0, but we are in a phase of preparation," Henry added. "We knew very well that it would be a difficult game.
"The important point is that we came from behind. It was not easy, especially in this atmosphere.
"You could see that everyone worked hard to recover the ball. We defended together, we attacked together. Of course, there are still things to tweak, but that is what we are here to do.
"Playing away against Tunisia is not easy. If you look around the world at other teams you will see they had problems too. England also struggled to win against Japan (2-1), with goals late in the game. I'm not looking for excuses, but it is a truth."
France complete their preparations with a friendly against China before their opening match of the FIFA World Cup against Uruguay on 11 June.