I think that driver was badly at fault - there was no need for him to overtake because he was in a queue and couldn't get past the next car, whereas a cyclist can.
If a cyclist chooses to filter that's his/her decision: the cyclist is in control and the driver should make allowances for the fact that they are driving a vehicle which occupies far more than their fair share of the road. I think a good analogy is if I am cycling along a narrow lane an a vehicle is coming the other way, I will hold the centre of the road and make damned sure they slow down. Most will stop and let the cyclist manoeuvre past them. On the other hand, if the cyclist takes their position near the LH verge too soon, there's a lot of gits who will take advantage and hammer a few inches past without adjusting their speed.
I agree with Clandy that taking primary at that point was the correct thing to do, but it could also be interpreted as being provocative.