I don't see a problem with a bicyclist on the road that stays to the right in the margin. I don't get bothered even if they take a little bit of the lane for a short stretch if needed then get back over. As long as they indicate they are conscientious and courteous, I'm good with that. I also don't mind if they are in the lane where the speed limit isn't that great, and they are moving it along, especially if they have a hill and can really scoot.
In that Cummins vs Cyclist video, I didn't see any cyclists infringing on the driving lane. The Cummins driver certainly didn't have any problems getting by them so I don't agree with his rolling coal on them. Cyclists only bother me if they make no effort to make way for vehicles. It's obvious when they are being obnoxious about it and especially so when they have a large group spread out taking one or more lanes.
