Felipe Polanco is the only person I know who teaches dancing to the clave, literally stepping on the clave beat. Not that hard once you get the hang of it, but it is very much like learning a different dance as the leads etc are all at different times.
He is an excellent dancer and can be seen on most of the West Coast Salsa Congress DVD’s. He’s also got a teaching DVD out.
With regards to a On1 or On2 dancer and the clave, it is less about stepping to the clave, (which other than the 1st beat we don’t) more about the tension that the clave gives to the music which allows us to play in way unique to Salsa.
A beginning dancer needs to be more concerned with dancing to the rhythm and stepping to and marking the beats. However an advanced dancer will become more interested in interpreting the music. Sometimes stretching or delaying a beat, following the melody or going crazy to a timbales solo. It is here that the clave starts to mean something to the feel of the music and the way you dance it.
Irregardless of what footwork structure is used it is only a framework on which to hang your picture of the music. It is the common ground with which we communicate with our partner. But as you both become more attuned the easier it is for you both to feel the different elements of the music together. The magic of partner dancing is when this happens with out thought, emotions guiding you both through the music. Watching Fred Astaire and Ginger Rogers dancing is magical because they create such beautiful pictures of their relationship with such effortless ease that you don’t even see their technique, just the moment of their relationship with each other and the music.
Rambling a bit here but I’m just trying to illustrate that the footwork is a base stucture and the clave gives us a tension that we can start to utilise as we feel it more. Sometimes we may hold a step longer between the 1, 2& or feel the demand of the 6,7.
It is the sheer variety of the rhythms in Salsa music that make it so cumpulsive and addictive. You have so many things to play with as a dancer, the 4/4 rhythm the 3/2 of the clave, or the drive of the cowbell 1,2,& - 3,4,&, - 5 etc.
Still rambling so I’m going to sign off here, hope that helps rather that confuses :)