he tells them to do something for him if he dies in battle
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Okay, I really looked for this statement but could not find it stated explicitly. I could have missed something but I do know that Henry respected the dead men he crossed in the fields,
"He now thought that he wished he was dead. He believed he envied those men whose bodies lay strewn over the grass of the fields and on the fallen leaves of the forest."
Henry liked the heroism of being displayed with the elements. He liked the thought of melding back into nature. I hope that helps a little.