A linear array of underwater radio frequency (RF) antennas is implemented, which emit surface electromagnetic waves propagating along either water-air or water-seafloor interface. The phase difference Δϕ between neighboring antennas defines the overall beam direction, while the so-formed directional beam intensity remains almost constant near the antenna array due to the largely two-dimensional character of beam propagation. By adjusting the phase difference Δϕ, the narrow two-dimensional surface beam may be sent in any direction over 360°, thus enabling targeted RF communication with any desired object located near the said interface. An impedance matching enclosure filled with an impedance matching fluid may also be utilized surrounding the antennas to reduce antenna dimensions and improve coupling of electromagnetic energy to the surrounding salt water medium, thereby improving underwater radio communication performance.