Hi,
I, myself a bike rider, and the rule I think is that you have to give way, you need to make sure that the road is clear, what he did is lane filtering which is legal (in NSW), saying this, in these cases, I always slow down and make sure that there are no vehicles crossing, the bike rider will suffer more than any vehicle in an accident.
As there was no accident, there is nothing that can be done. I had many cases where vehicle drivers were complete irresponsible and nearly caused an accident with me (I have action cam too that records what happens), and reported to police (showing the video, vehicle rego number etc....), the police will not do anything unless there is an accident, the only thing is that someone does something like crossing a red light then you can complain but that will require that you go to court....
Hope that helps.