A clamp system for allowing a pile driving/pulling system to be attached to a caisson to be driven into or extracted from the earth. The clamp system comprises a structural member, first and second clamp assemblies, first and second locking assemblies, and a clamp displacement system. The structural member is attached to the pile driving/pulling system. The first and second clamp assemblies move along the structural member and either clamp onto portions of the caisson or are disengaged from the caisson. The first and second locking assemblies either fix a position of the clamp assemblies relative to the structural member or allow the clamp assemblies to move relative to the structural member. The clamp displacement system displaces the first and second clamp assemblies relative to the structural member to obtain a desired clamp distance between the first and second clamp assemblies.