Both played their part in frustrating Tottenham for almost an hour at White Hart Lane on Sunday before succumbing to a 2-0 defeat, and the Holland international says he has struck up a real chord with Clark at the back.
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Vlaar praised the 23-year-old's recent form that has led to him being called up to the Republic of Ireland squad, and believes their defensive link-up is starting to show signs of positive development.
However, the summer signing from Feyenoord remains determined to refine his connection with Clark after managing just one clean sheet in Villa's opening seven Premier League matches.
"The partnership with Ciaran is good but I think we have to improve, for the team and for ourselves," he told the club's official website.
"Communication can always be better and we talk to each other a lot about moments in the game, situations that have happened and what can happen in future.
"I think everybody has to improve. It is a long way but we have to keep it up and move forward."