A communication device for performing device-to-device (D2D) wireless communications with a first neighboring communication device is provided. The D2D communication device includes a wireless module, a counter, and a controller module. The wireless module performs wireless transmissions and receptions. The counter has a count value and a threshold value. The controller module determines whether to broadcast proximity signal via the wireless module according to a comparison result of the count value and the threshold value, wherein the controller module determines to broadcast a first proximity signal to the first neighboring communication device via the wireless module when the count value reaches the threshold value, wherein the count value of the counter is changed according to a second proximity signal broadcasted by the first neighboring communication device.