This is one of the best videos on cornering technique I've seen in quite a while.
https://www.youtube.com/watch?v=31FCJgOnoiQ
I tend counter-steer more than lean, though I have taught myself to lean at higher speeds. How about you?
Isaac Newton decided that you actually do both. Countersteering AND leaning is something that we cannot adjust by our decisions.
We must countersteer to initiate a change of direction (whether we are aware of it or not), and our angle of lean is a function of centripetal force.
It’s not something we have any say over.
We all see racers holding the bike upright and hanging off, with the opposite on dirt bikes, but in both cases, rest assured the C of M is acting through the contact patch, or either the horizontal or vertical vector would prevail and the bike would crash.
See where the cente of mass is ?

The bike does not know how the mass is arranged on the bike, just where the centre of it is and it obeys that and only that.
It’s a combination of bike AND rider, but there is only ONE Cof M and it MUST act through the contact patch.
If you intentionally lean the bike more in a turn than where it’s stabilised position is, you will find that you have moved your body mass off centre to accomplish this, but your centre of mass stays the same.
It cannot do otherwise in balanced motion…