When considering these type of incidents, watching those silly videos etc, I'm always trying to consider what I could have done better had I been in the situation. In this scenario I guess we're looking at it from the motorists POV so although maybe the cyclists could have been clearer about their intentions, they weren't and there's nothing we could have done to change that. So the thing to consider is the driving. It basically boils down to appreciating that sometimes other road users may do something a bit daft, being aware of what they're doing and what possible daft things may happen, consider the circumstances etc. Understand the situation they're in, that is racing so maybe having their concentration focussed in a particular place, not wanting to upset their aero, taking a particular line etc. Then prepare to take action to mitigate it.
It's not wrong, it's not right, it just is.