No, you caused that, its very easy to see. Yes, he pulled out, but you could have driven a little less quickly, and got away with nothing more than a light cover on the brakes and a sigh.
Having had an actual collision with a foreign lorry on a round-about myself, I learnt from it that a little bit of caution and anticipation is a good idea to protect yourself. The lorry driver was not going out his way to annoy you, or cause an accident. He just wanted to get on his way to complete his day.
In my instance the lorry driver pulled an illegal, and incorrect manoeuvre crossing 3 lanes, but I had put myself in danger by not anticipating a possibly dangerous situation. Despite not being in "the wrong" I figured out that I should be a little wary of such situations in future, and have learnt from it. So normally I am very defensive of people getting done over by a lorry doing something odd, but really, you created that, and it should have been nothing more than a mild inconvenience.
Take it on the chin, and become a better driver as a result.. I know its annoying to be "in the right" legally, but sort of wrong, but it comes with experience and you will be a better driver as a result!