Connecting two extruded bosses

Hi all.

Is there a suggested best practice to connect two surfaces with another bar like the one stated below?  I'd like to create Bar C connecting Right plane object with the Plane 1 object and I'd like the bar to look like Connector Bar A(Connecting two circle object).  Not sure whether I make any sense with the question.  Any suggestions? 

EDITED BY MODERATOR: Converted to a question. Please submit questions as questions rather than discussions so that the correct answer can be marked for individuals in the future who are looking to solve the same problem.

SolidworksParts And Features