Because vehicles and bicycles run on the same roads at different speeds, there are many cases in which vehicles overtake bicycles. In such cases, communication between drivers and bicyclists is crucial for sharing intentions and facilitating cooperative behaviors. However, the main existing communication method is one-way communication from bicyclists and vehicle drivers are unable to communicate. This study aims to clarify the appropriate pattern of communications between vehicle drivers and bicyclists. We considered four communication patterns between a vehicle driver and bicyclist: two-way communication, two patterns of one-way communication, and no communication. We analyze the effects of these communication patterns on the impressions of drivers. In an experiment, participants were asked to perform the actions of communication while viewing a recorded video of a scene in which a bicycle was overtaken by a vehicle approaching from behind. We then asked the participants their impressions of driving and communication. We concluded that from a vehicle's perspective, two-way communication (sending and receiving messages) is the safest and most comfortable communication method. However, from a bicycle’s perspective, it is sufficient to send a one-way message to the other party for comfortable driving.