Only if that's what you want to see.
The play was designed to be a quick out to the RB in the flat. The claims that Manuel needs to be more patient and let the play develop completely ignore the (very likely) possibility that this was the specific play called, which was designed to isolate Freddie in the flat against a single defender. Then it's up to Freddie to win his one-on-one matchup, which in this case he didn't. So it's possible, and likely, that Manuel was just executing precisely what he was instructed to do.
As for Henderson, if this was in fact the designed play, then his job may very well be simply to get a strong push on the DE to direct him outside, without the need for engaging him for much longer than the initial contact. So as long as he can get his arms on the defender and direct him outside and away from the path of the pass, he's doing his job.