A radio communication device may be provided. The radio communication device may include: a measurement circuit configured to measure a reception quality of a signal from a second radio communication device; a memory configured to store signal information indicating the reception quality of the signal measured by the measurement circuit; a configuration information receiver configured to receive configuration information for the radio communication device based on the measured reception quality; a quality indication determination circuit configured to determine a quality indication of a communication with the second radio communication device based on the stored signal information and the received configuration information; and a connection establishing determination circuit configured to determine whether to establish a connection for communication with the second radio communication device based on the determined quality indication.