as you say, the forces involved with bicycles are so slight that in general, its not something that you notice you are doing.
On a recent loaded tour however, with lots and lots of downhills and downhill curves, I very much noticed the action involved as the bike had front panniers and handlebar bag (and rear panniers etc too) so one has to make a much more concerrted effort with counter steering--but I also come from a motorcycle background so the feeling on a loaded bike is similar to a motorcycle in terms of force input.

in any case, its all done instinctually so unless its for people who are new to two wheels, its like talking about a person having to breathe or something, we just do it.