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What do you mean by "close"? Close in physical distance? Or closely interconnected (ie not many routers/switches inbetween)?
Furthermore, reaction time of a system is often related to load of either of the systems or any system inbetween (like an interfering firewall).
So, you may want to check if other types of connections are also slow.
If it's just ssh, then you know where the problem is.
If it's not, it's probably a network problem.
As for ssh itself, you may want to think that the ssh protocol necessitates that the 2 computers send each
other some messages for authentication (ie "challenge-response"). If you would add your username (on the ssh-client) to the .authorized_keys file on the ssh-server, then this would bypass the username/password authentication, which could speed up things. However, this has serious security implications, of course.
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