Although Shatner plays the titular villain to West's hero, the pair did not record their lines together or meet up to discuss their performances during the production of the animated film.
Best known for playing Batman in an iconic, live-action TV series in the 1960s, West died in June at the age of 88.
Asked by UPI at New York Comic Con Sunday about how well he knew West, Shatner replied, "I knew Adam.
"A long, long time ago, we did a pilot together prior to Batman, prior to Star Trek. I played Alexander the Great. It was going to be a group of soldiers in the desert fighting. That was the concept, led by Alexander. And it didn't sell," the 86-year-old actor recalled. "Each of us went our way and we would see each other at a Comic Con like this. Be having lunch and sit at a table and talk and I got to know him over the years and I really admired him. Lovely, lovely, sophisticated man."
Co-starring Burt Ward and Julie Newmar, Batman vs. Two-Face will be released on DVD and Blu-ray on Oct. 17.