They're already linked. The horned children from Ico are the descendants from Wander in Shadow of the Colossus. Thus, Shadow of the Colossus is a spiritual prequel of Ico.
Ueda is very unlikely to ever create a direct sequel to either game, but chances are whatever game he is working on will be set in the Ico/SotC mythos. However, it will most likely be related to the two only so much as they are related to each other.
Edit: Ah. Didn't notice he mentioned it was a prequel in the article. >_>