Yes, you must ask Vanguard for a return of contribution (not a normal distribution). You have until the extended due date of the 2016 tax return (Oct 18, 2017) to get a return of a 2016 contribution. They must return the contribution and any earnings that the contribution earned.
See IRS Pub 590A
https://www.irs.gov/publications/p590a/ch01.html#en_US_2016_publink1000230703
Contributions Returned Before Due Date of Return
If
you made IRA contributions in 2016, you can withdraw them tax free by
the due date of your return. If you have an extension
of time to file your return, you can withdraw
them tax free by the extended due date. You can do this if, for each
contribution
you withdraw, both of the following conditions
apply.
-
You did not take a deduction for the contribution.
-
You withdraw any interest or other
income earned on the contribution. You can take into account any loss on
the contribution
while it was in the IRA when
calculating the amount that must be withdrawn. If there was a loss, the
net income earned on
the contribution may be a negative
amount.
**Disclaimer: This post is for discussion purposes only and is NOT tax advice. The author takes no responsibility for the accuracy of any information in this post.**