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There is some HGV blind spot training this Tue. all over london in various points - this would be my first spot.
I generally stay well clear of trucks (right or left) if there is any potential for them to turn either way - they have particularly bad blind spots due to their elevated position.
I prefer a more dominant riding position so as my confidence has grown I tend to cycle on the right (as you say) rather than skim the gutters.
Always check (i.e. like you would check you mirrors) before you perform any change of position in the road - this is particularly important to avoid hitting other cycles or motorbikes.