The most likely cause of you not being able to print is the printer driver being used. Checking the Ricoh web site for the specifications of the C2051, it shows that Postscript is an option. So if your C2051 does not have the Postscript option installed and you are using a Postscript driver on the Mac (I can only find a PPD for this model which is a Postscript driver), then you will not be able to print, regardless of what protocol you select.
As for the printing of a test page via Safari, if you mean that you connect to the internal web page of the Ricoh and selected to print a page, then does not require a driver so that explains why that worked.
The solution is to get the Postscript option for the C2051. This will then allow you to print from OS X.
Until you get the Postscript option, if you are happy to print in black & white, then there is a Generic PCL driver included with OS X. So if you create a new printer using Jet Direct-Socket for the protocol and then select Generic PCL Printer in the Use menu, this will let you print in B&W. Note that this driver is defaulted to 300dpi. If you need to improve the quality of a printed document then you can change the print resolution to 600dpi via the driver menu.