As others have said, stopping on amber is preferred but discretionary, doing an emergency stop to avoid going through an amber light even if there is no one behind is generally frowned upon & unless you slow down to a virtual stop at every traffic light then you're going to go through an amber on a fairly regular basis. The whole point of amber is to give people a warning that something is about to happen & to give a little bit of leeway thus avoiding the need for emergency stop type braking. On a bike you also have to be aware that you've not got a break light, this means suddenly stopping very quickly is putting your self at risk.
In fact it has been, successfully, argued that going through a red light is discretionary to a very, very limited degree in that if jumping red light will avoid a collision then it's acceptable. Less clear cut has been moving out of the way for an emergency vehicle, sometimes this has been accepted as a defence other times it hasn't