Isn't there a degree of common sense involved in this? I knew that undertaking big trucks was not a good idea without being on a forum and without being aware of the deaths. You just have to watch one of the things turn to realise that being on the inside of its turning circle is not a healthy place to be.
The thing about common sense is, that like many formerly common species, it is actually quite rare.
Even drivers of cars frequently have little idea how much space a lorry or bus, or even a medium sized van, requires to turn. For a lot of people, it's not until they drive one that they get it. If they never drive one, they may never figure it out.
How to get the message across? Stickers on lorries, hard hitting public information films and proper road safety training in school, from the earliest age, reinforced frequently, with the hope of educating the whole population, not just cyclists, or drivers, or pedestrians.
I did the 'down the left of a bus' thing once, with added railings. I was lucky, and after I'd straightened my handlebars out, I knew never to do it again. Sadly, some people get away with it until the day they don't and they don't get the chance to learn from the experience. (the same of course goes for a lot of motor traffic and pedestrian behaviour).
There's no doubt that the number of lorries in cities could be reduced, with a bit of blue sky thinking and the will to do it. But there will always be buses, and some lorries, and people have to learn to look after themselves.