Gaius "Caligula"'s plan to invade Britain was strategically undertaken and involved building a fortress on the grounds of the one built by his father Germanicus and probably continuing with his father's ideas. We now have archaeological evidence for this at Velsen. Gaius' plan was delayed by his having to quel a conspiracy while in Germania. However, when on the shores of Gaul, he received a visit from British nobels asking for a treaty, which would also have delayed his invasion. The weather was no longer suitable either for having his galleys cross the Channel and it is possible that the military mutineed them out of fear and superstition. The seashell incident might have been done to humiliate them afterwards, something in keeping with the Roman military attitude and approach. In his speech to the soldiers, he advised them to "prepare for better times", since he had planned to winter in Rome and then return. When he returned to Rome, he was assassinated and Claudius, connected with the central conspiracy level, immediately took over Gaius "Caligula"'s plans and quickly conquered Britain himself with minimal effort since Gaius had laid the groundwork.
Having military prowess was considered essential for a Caesar, and Claudius as the brother of Germanicus (Gaius' father) needed to prove that he had this, especially after his involvement in Gaius' assassination (which he did his best to hide by killing the ringleaders: he often applied such manipulative tactics, as also demonstrated with his behaviour toward Messalina) which is why he immediately hijacked Gaius' plans with Britannia.
You can read more about both Gaius Caligula and Claudius in the books, "Caligula: The Abuse of Power" by Anthony Barrett, and "Claudius" by Barbara Levick.
Both Gaius Caligula and Claudius were good friends of Agrippa I, the grandson of Herod the Great, who had grown up with the Julio-Claudians in Rome and was highly trained in the running of the Empire. He may have helped Caligula at the start of his reign and he later influenced him to change a plan involving placing his statue in the Jerusalem Temple. Out of expediency, Agrippa I then immediately changed sides when Caligula was assassinated and helped Claudius achieve his coup by negotiating with the Senate in the Curia, thus averting revolution and civil war. Claudius rewarded him for this by extending his kingdom to greater in size than that of Herod the Great. But after assisting Claudius, Agrippa then secretly buried his friend Caligula in the palace grounds. He later informed his sisters of the place when Claudius had them returned from exile so they could bury him properly.
Caligula had been untrained and had abruptly achieved power when he was 24. He only ruled for four years since he had trouble getting along with the Senate and was often outspoken with them. He believed the Senate had been responsible for the deaths of his mother and older brothers: he came to this conclusion after reading over many senatorial documents. Caligula was the rightful heir according to Augustus' will. Augustus had wished Tiberius to rule temporarily but had wished Germanicus and his sons to be his heirs, not Tiberius' son Drusus. Germanicus died under mysterious circumstances while on a diplomatic mission to Syria and Tiberius and Sejanus maltreated and then exiled and put to death Germanicus' widow Agrippina the Elder and older sons (whom Germanicus had sworn to avenge him). Caligula being very young then was spared. Claudius was not the rightful heir: he was Germanicus' brother. He had doubtless built up much resentment from being kept out of the political scene due to his minor disability. Caligula was the first to recognize him by making him consul and giving him other privileges. This gave Claudius ideas on how he could manipulate the situation to acquire rule.
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