Previously considered conspecific with Henricia leviuscula, H. pumila was officially recognized as a separate species in 2010.

[1] Its small adult size, external brooding method of reproduction, and details in its morphology, such as its mottled appearance, distinguish it from H. leviuscula.

[1] H. pumila occurs in the cool, shallow waters of the eastern Pacific Ocean, ranging along the North American coast from near Sitka, Alaska, to Ensenada, Baja California.

It is much less common in the Southern Californian stretch of its range, with only a handful of sightings along the coasts of the Channel Islands, Santa Barbara, and San Diego.

[2] The dwarf mottled henricia typically has five short, yet slender arms (also called rays) which evenly taper to a blunt tip.