Every model of $∃xR(x) ∧ ¬R(c)$ must have at least two elements.
We can satisfy the formula with e.g. the domain $D = \{ 0, 1 \}$ and interpreting $c$ with $0$ and $R$ with the subset $\{ 1 \}$ of $D$, i.e. with the "property": $(x \ne c)$.
If the language has only the constant $c$ and no function symbol, then the Herbrand universe will be $U = \{ c \}$.
Thus, any Herbrand structure built up on the universe $U$ will not satisfy the formula.
See :
Theorem 9.24 A set of clauses $S$ has a model iff it has an Herbrand model.
Theorem 9.24 is not true if $S$ is an arbitrary formula.
Example 9.25 Let $S = p(a) ∧ ∃x¬p(x)$. Then
$(\{ 0, 1 \}, \{ \{ 0 \} \}, \{ \}, \{ 0 \} )$
is a model for $S$ since $v(p(0)) = T$ , $v(p(1)) = F$.
See page 179 : "An interpretation $\mathfrak I$ is a 4-tuple :
$I = (D, \{ R_1,\ldots, R_l \}, \{ F_1,\ldots, F_m \}, \{ d_1,\ldots, d_n \})$,
where $D$ is a non-empty set called the domain, $R_i$ is an $n_i$-ary relation on $D$ that is assigned to the $n_i$-ary predicate $p_i$, $F_j$ is an $n_j$-ary function on $D$ that is assigned to the function symbol $f_j$ and $d_i ∈ D$ is assigned to the constant $a_i$."
$S$ has no Herbrand models since there are only two Herbrand interpretations and neither is a model:
$( \{ a \}, \{ \{ a \} \}, \{ \}, \{ a \}), (\{ a \}, \{ \{ \} \}, \{ \}, \{ a \})$.