The first thing you need to know is the rules for K+P vs K, when is it a win, when is it a draw.
Apart from the square rule, which you already know, there are 3 rules.
1. For pawns on files b through g, when the pawn is behind the halfway line then the king has to be able to get to one of the 3 squares two squares in front of the pawn in order to win. Otherwise it is a draw:
[Title "b-g pawn behind halfway"]
[fen "8/8/3KKK2/8/4P3/8/8/8 w - - 0 1"]
2. For pawns on files b through g, when the pawn has crossed the halfway line then the king has to be able to get to one of the 3 squares one square in front of the pawn in order to win. Otherwise it is a draw:
[Title "b-g pawn crossed halfway"]
[fen "8/8/3KKK2/4P3/8/8/8/8 w - - 0 1"]
3. For a and h pawns the king has to get to b7 or b8 and g7 or g8 respectively in order to win. Otherwise it is a draw.
[Title "a and h pawns"]
[fen "1K4K1/1K4K1/8/8/P6P/8/8/8 w - - 0 1"]
In all of these positions, if black can stop white getting the king to one of the key squares marked then black can draw.
Looking at the position you give it is fairly straightforward to see that it is a win for white. If black didn't also have the a pawn then the plan would be to push the c pawn up the c file and the king up the b file as necessary to protect the pawn.
Since black does have a pawn, the one thing white has to be careful of is knowing what to do after black pushes the a pawn to a5, possibly with check and this requires a bit of calculation. (Note that if it were black to move first then this tactic would draw immediately as black can then stop white getting the king two squares ahead of the pawn.)
If this a pawn check comes after the moves 1. c4 Kd4 2. c5 then white must not capture because black would just take the c pawn. Instead white pushes the king on to b5 and although black can queen the a pawn, black queens the c pawn first and wins thanks to move Qh8+ skewering the black king on d4 against the black queen on a1.
[FEN "8/p7/8/8/1K6/4k3/2P5/8 w - - 0 1"]
1. c4 Kd4 2. c5 a5+ 3. Kb5 a4 (3...Kd5 4. c6 Kd6 5. Kb6 {Black can't stop the c pawn}) 4. c6 a3 5. c7 a2 6. c8=Q a1=Q 7. Qh8+
If black moves to e4 on the first move then white has time to capture the black pawn after a5+ and still come back to b5 to protect the pawn and shepherd it home.
[FEN "8/p7/8/8/1K6/4k3/2P5/8 w - - 0 1"]
1. c4 Ke4 2. c5 a5+ 3. Kxa5 Kd5 4. Kb6 {and with the pawn beyond the halway line white's king is on one of the key squares on square in front and queening is guaranteed.}
An excellent book which covers this and many other useful endgame ideas and principles is Amateur to IM by Jonathan Hawkins.