Front squats are your friend. Looks like you're uncomfortable getting low with that much weight for fear of falling backwards.
Practice those at the end of your workout since it'll fatigue your legs for cleans. Watch yourself in the mirror if you can and try your best to keep your elbows forward, and your ass sticking out. This will help your develop flexibility and balance.
Once you feel more comfortable with front squats, try to incorporate cleans with much less weight so you get the feel of catching the weight in the front squat position with your elbows forward, back straight, and ass out.
edit: just watched some of the videos mentioned above and linked below- very nice and broken down into workable steps