A Bluetooth communication system includes: an inquirer-side Bluetooth device arranged to operably generate and transmit a Bluetooth inquiry request; and a requester-side Bluetooth device arranged to operably receive and parse the Bluetooth inquiry request, and to operably generate and transmit a Frequency Hop Synchronization (FHS) packet containing a requester-side Bluetooth address and an Extended Inquiry Response (EIR) packet containing an auto-pairing request to the inquirer-side Bluetooth device. The inquirer-side Bluetooth device conducts an auto-pairing procedure with the requester-side Bluetooth device according to the contents of FHS packet and the EIR packet, but at least one of the inquirer-side Bluetooth device and the requester-side Bluetooth device does not support Bluetooth Low Energy (BLE) technology.