I agree with Daniel. Bring the bar up slower and be patient before you extend. Make sure you're pushing the bar all the way into your body and drive straight up with the legs to elevate the bar (rather than using your arms).
Although I would say that it's optimal to receive the bar in a lower position. You always want to have a fast turnover. If that means you turn the bar over when your still above parallel then that's fine just ride it down into the squat. As the weight gets heavier, you'll only have so much leg power to elevate the bar so much. That will cause you to receive the bar at a lower position without slowing down the turnover.
I think Clean Pulls and Hang/Block Cleans will be good for you. Try some Halting Clean DLs
as well to help smooth out that first pull and to make sure you're bringing the bar all the way in.