What would you suggest the OP should have done differently?
As I don't know the exact details I'm not really sure, ultimately if I was in his position I would probably do the same/similar to the OP, but I'd also accept that if this did happen that it was partial blame.
I guess in a perfect world you'd wait for the lorry to go past and to a point where you can see down the road, bikes are generally clearly visible over cars.
But I'd imagine almost all drivers on the road would do what the OP did, some even worse in terms of not checking the way is clear, but that doesn't make it the bikers fault 100%.