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Speaking on RTÉ's Morning Ireland, Richard Bullick said, that traditionally, Taoisigh have dealt with such issues with a measure of moderation and responsibility.
Mr Bullick said that private views are normally kept private, adding that it may be an issue of "somebody relatively recently into office that led them to say what they thought out loud, which isn't always the most desirable stance in politics."
He said both sides needed to work together and that this kind of language was not helpful.
Last week, Mr Varadkar said the Government does not want any sort of economic border on the island of Ireland after Brexit.
Mr Varadkar said if Britain wants to put forward technological solutions that is up to them, but the Government would not do that work for them.
In what was the most hard-hitting response yet from the Taoiseach on the issue of the border, he said the Government was not going to design a border for the Brexiteers.
"So let them forward their proposals as to how they think a border should operate and we'll ask them if they really think this is such a good idea," he said.
He warned that it would have a very severe impact on the British economy "if they go down that route".
Mr Bullick said whether we liked it or not, the issue of the UK leaving the EU was settled last June and in his view the common interest should be in getting the best deal for all of the people of Ireland.
He said since 1921 there had been a border on the island of Ireland and that cannot be wished away.
Mr Bullick said the desire of most people in Northern Ireland was to have a border that does impede economic activity.
In relation to achieving a frictionless border, he said it would be challenging and would require a lot of thought and imagination, but that it was possible to get pretty close to that goal so long as everyone was pushing in the same direction.