That's correct. In your _form.php file you have to define a dropdown box if the user should choose a client:
<?= $form->field($model, 'client')->dropDownList($clients) ?>
and in controller actions create/update you have to provide the $clients:
return $this->render('create', [
'model' => $model,
'clients' => ArrayHelper::map(Client::find()->all(), 'id', 'name'),
]);
Don't forget to pass them in the view files for create.php and update.php to the _form.php file:
<?= $this->render('_form', [
'model' => $model,
'clients' => $clients,
]) ?>
In other views where you just want to show client you may use this:
echo $model->client->name;