I disagree with that. Before someone learns to turn a cycle, motorized or not, they have to learn to not fall over. So we tell them that they have to turn towards the direction they are falling. Once they master not falling then in practice there is nothing more to teach. They can easily generalize to adjusting the bike to any lean angle because the required motion of the handlebars is exactly the same. If we don't tell them about countersteering they will have no idea they are doing something different for steep turns vs shallow turns. They just have to establish a greater angle sometimes.
Back in the day prospective pilots were taught by having someone show them how to move the controls for each possible manoeuvre. These days the prospective pilot is first taught what the effects of the controls are. After that they are entirely responsible for achieving the required aircraft attitude using that knowledge. They are told to roll the aircraft to turn. They are not told that they have move the stick to the right for a while and then centre it even though that is something that would not produce a continuous turn in a car.
