"There is still a long way to go before we reach a situation where ships are able to sail freely without fear of being attacked," he said.
"Seafarers already have enough to contend with living onboard a ship for up to nine months, away from family and loved ones, without the added pressure of sailing through regions where attacks on merchant vessels are high.
"The trauma associated with piracy attacks can cause a seafarer to never return to the sea which is a big problem for the industry as it struggles to recruit and retain seafarers."
The Arctic Sea was heading for Algeria with a cargo of £800,000 worth of timber when suspected pirates boarded the vessel near Sweden on July 24 and forced the crew to sail to West Africa.
The vessel disappeared for the next two weeks before being found on Monday by the Russian navy near the Cape Verde islands in the Atlantic Ocean.
Eight people have been arrested over the hijacking, while the Russian crew have been taken off the vessel for questioning.
Rev Heffer said Mission to Seafarers was on standby to support the crew after their "horrific" experience.