When I'm about to make a right or left 60-90 degree turn, I find that the leg on the inside of the turn wants to be fully extended, but that puts the pedal closest to the road.

My simple question is this -- is that improper form? I've tried getting into a habit of pulling the inside leg up so that the outside pedal is lower, but that just doesn't feel intuitive. And I have to do it consciously or it doesn't happen.

Should I keep trying to break my old habit, or not?