Villa finished the season with just 38 points, which in many other Premier League seasons would not have been enough to ensure survival, but was sufficient to secure another year in the top flight for the Villans.
However, after a busy summer of transfer spending, 2013/14 promised much more, and Vlaar knows that fans will not be happy with another relegation battle.
"In the last couple of months we dropped and the results were bad and everybody knows that," Vlaar told the Birmingham Mail.
"It is frustrating but it is a hard fact we had to deal with, now we have the summer to recover and start over again.
"The most important thing is we secured our Premier League status.
"I'm really happy with that. But after last season we had a good feeling going in the summer break because we climbed the table and secured safety."
The Dutch defender, who is hoping to be part of Holland's squad for this summer's World Cup, was especially despondent after their final day defeat at Tottenham, with his side easily brushed aside.
"When you're 3-0 down after 45 minutes it's not good enough, but how many times have we said that this season, especially in the last couple of months?" Vlaar added.
"It was really hard for us, for the staff, for the fans and it needs to be better, that's one thing for sure."