Looked it over and watched the video.
Following the rules of the road gives cyclists the rights of a car, even a full lane.
But, citations where I live are minor for a cyclist compared to a car for the same infraction.
I have never seen a bicycle rider cited, only the homeless harassed for not having a bell or blinky lite.

Regarding on the road altruism. It has a lasting impact for the giver & receiver imo.
Riding(m/c) home from work as a diesel mech. in dirty cloths. I stopped to change a flat on an up-scale BMW car. The driver thanked me and offered money, to which i replied, no TY just watch out for us.