Firstly, the cycle lane is a disaster waiting to happen. It's all in the gutter.
Secondly, the cyclist was in completely the wrong position at the start of the video and, although some of the undertaking of the smaller vehicles was justified, it certainly wasn't in the case of the lorry.
Thirdly, by the time the lorry overtook the cyclist he had been in front of it for some time. The driver ought to have been aware of his existence. Having said that, by the time the lorry overtook, the cycle lane had gone off the road and either the cyclist should have followed it or should have taken primary on that narrow lane.
I think there's another point: by undertaking a lorry that close, the cyclist is giving the impression that he is perfectly comfortable with lorries on his right shoulder.
The whole thing was an absolute disaster: road design, cycling and driving.