Correction to my previous post:
Instead of connecting a signal to a handler, you can use yield() after calling get().
Example:
# This is an alternative to using a signal handler.
var response: Array = yield(request, "request_completed")
print_debug("response=", response)
var s: String = response[3].get_string_from_ascii()
print_debug("s='%s'" % s)
In this example, the server is returning a simple string. "request" is the variable containing a reference to the HTTPRequest object, as in your post.