As a motorcylist who is also encouraged to filter to the front of a queue I find myself not far away from cyclists a lot of the time. Not long ago I realised we're all friends. Look people in the eye, say "After you", and for me most importantly realise this isn't a race. The OP's first point of looking is so important. Bikers call it a lifesaver - even with mirrors never swing out or move arounnd without a little check over the shoulder. If you can't manage that comfortably practise, powered two wheeler or pedal. Also never think you're too good to not need more training...