Danny i would say you are pushing the bike over in corners instead of getting off the bike to maintain ground clearance. It's a newbie habit which is easily fixed before it ends in tears.
Regardless you have No excuses not to come riding with us now mate, you've had your solo fun come out with the gang. Who knows i may even let you give me some pointers.
Not to counter Rossi, as he's been successfully riding heaps harder n faster then I for a lot longer BUT ....... I spent 6 weeks retraining myself to put my feet back down on the pegs (as instructed by Toprider at the B&C course up here) to enable rear brake trailing into & through corners as required.
Colin Edwards at this years PI GP said he's having to learn the technique to match the guys who come up through the gp Ranks to the motogp class.
my2cs.
Cheers Brett