The only way I've managed to make this happen is to watermark the pdf with another pdf. Yes, I know it's dirty :) This pdf contains header and footer (with logo). I'm using the pdftk command line package for this.
Thanks for the reply. Wow, that is dirty indeed, and I was hoping for a bit more flexiblity from Asciidoctor here, maybe even customizing the templates or something like that. I'll take a look at pdftk!