The England international spent the 2011/12 campaign at the Liberty Stadium, helping the Swans to cement a top flight standing on their Premier League bow.
He returned to South Wales over the summer, with Cardiff securing his services from Tottenham Hotspur in a big-money deal.
Caulker will get the opportunity to reacquaint himself with some familiar faces on Sunday when Swansea make the short trip to the Cardiff City Stadium.
It promises to be some occasion, with two fierce local rivals clashing in a top tier fixture for the very first time.
Caulker told Sky Sports: "There will be no hard feelings. Going into the Swansea game, it will obviously be a very hostile atmosphere.
"It's one I look forward to playing in and being involved in. I have heard a lot about it over the years, so I will be excited for that game. It will be a tough test.
"I enjoyed my time there and I have got a lot of respect for the club but when we do play them, I will be looking to get the better of them."
Cardiff v Swansea is on Sky Sports 1 on Sunday afternoon from 3.30pm