I'll happily sit in lane 1 at my own pace and if anyone is moronic enough to be sat in lane 2/3 then I'm not going to go out of my way to go around them.
One of my last undertakes I got in front of a MLM and started weaving between lane 1 and 2 with my left indicator on to try and signal them to move over.
The
**** pulled over to the hard shoulder and stopped as he thought something was wrong
To be fair, there was something wrong, just not with the vehicle.
I'm the same though, I use lane 1 until I need to pass a lorry / very slow car, then I'll move to lane 2 etc. I don't really bother with trying to 'teach' people to move to the empty lane 1 because they won't learn.
I did however pass someone on the left whilst doing under 70 myself and they then realised they should be in the left lane so indicated and pulled in behind me once I was safely passed.
Passing on the left isn't illegal provided you're passing and not overtaking, ie you're in lane 1 anyway trundling along at 70 and someone in lane 2 is at 60. As long as you're not constantly lane switching to try and get ahead/past people it doesn't matter. I've passed a few police cars on the left and passed cars on the left with police behind/in front and haven't been pulled for doing so.
I'm never really in a rush these days so am happy to sit at 70 in lane 1 until I need to pass someone going slower, which can infuriate people in lane 2. A while back I was going from Reading to Bristol on the M4 and there was quite a bit of traffic around Swindon area. Before the main traffic I'd spotted a couple of nice 80s BMWs rapidly approaching from behind in lane 3. We then got traffic as they were about to pass me, I kept in lane 1, them in lane 3. Without speeding, I didn't see them again until I came up to my junction for Bristol on the M4 when they came up/passed at speed in lane 3.
Sitting in lane 1, being sensible often avoids most of the annoying tailback stop/start traffic.

I also recall a while ago on the A30 back through Devon where I was using lane 1 happily and then saw a lorry ahead doing 40-50 and a queue of cars in lane 2 all wanting to overtake it. I sat in lane 1 and carried on approaching the lorry (with no intention of pulling out into the traffic queue) and someone in the queue blasted their horn at me, mouthed rude words etc. at me. I just shrugged it off, waited for a gap in the queue, indicated and moved out when safe.