Speaking of pedal contact, I learned to countersteer once upon a time and came to habitually use it all the time. I rarely take a turn without countersteering and often take sharp corners at speed. There have been a few times when I forgot to stop pedaling, just muscling my way through the curve because I'm so confident I can take it without slowing down, and ended up scraping the pedal crank on the pavement. I've not fallen down, luckily.