Its to do with resonance. Matter will absorb radiation (by electronic, rotational, vibrational or whatever mode) if the frequency of that radiation hits a resonance with something - i.e the frequency of a carbon - chlorine bond vibrates in the UV range somewhere, so C-Cl bonds absorb in the UV range - hit it hard enough with enough UV and the bond will break.
Infrared can be absorbed by vibrating molecules as well as UV (if there is a change in dipole moment during vibration - but that is another story) If you 'zoom in' on an IR spectrum and look at the ultra fine structure of a peak, you can see that most broad peaks are made up of lots of other peaks close together - there is one main frequency at the vibrational resonance of the bond and lots of other little side peaks at strict quantisable spacings due to the addition rotational and electronic additions and subtractions to the energy required to be absorbed.
So, yes, IR causes vibration of a bond - but you get rotational and electronic fine structure around the peaks (if your IR machine is of high enough resolution).