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@Arducius
I've seen a lot more signs on the back of lorries/trucks recently warning cyclists not to go up the left hand side, but they seem to vary a lot, some are more obvoius than others etc. etc., I think that a simple clear sign would help a lot, even if it makes you re-think undertaking before doing so anyway, at least then you take a calculated risk. Personally I only go down the inside of a lorry if its not moving, even then it would probably be better to wait just in case it pulls away.
Unfortunately not, but if you can avoid putting yourself in a dangerous position in the first place, in this case if you never cycled down the inside of a large vehicle, then you would be at less risk. You can't forsee everyones actions on the road, and if someone pulls alongside you and sideswipes you there isn't a lot you can do. I tend to slow down as a lorry overtakes me if its either a thin road (meaning the lorry passes close), or if there is a junction coming up. So I can make sure I'm clear of the lorry before (if) it's turning, or just get that scary "Oh shit, this is close and it's fucking big!" moment out of the way sooner.