The cyclist in the clip was not overtaking. They were keeping pace.
Well, yes and no, the cyclist is "keeping pace" but only having come from behind, and on the worst side for visibility. Let me be clear here, this is not the cyclist's fault, BUT: He's keeping pace with the part of the car where the driver is the least likely to know he's there. The best course of action here is for the rider to get himself seen, get slightly ahead, make eye contact. If he can't, like in the clip, and the car stays level or moves ahead, the rider has to assume he hasn't seen the cyclist and should plan accordingly.
You wouldn't sit on the left of an artic on the motorway in your car, driving along level and in his blind spot, because at some point the same thing will happen. This is what hazard perception is all about, spotting it early and therefore avoiding trouble.
Ashely Neal professes to be a driving guru
He's a strange one, he is generally professional, but for me he does a worrying amount of presenting and analysis as he's actually driving along, even turning to the camera a lot for emphasis as he makes points. I've suggested to him previously that it's surely safer for him to present his clips from home as voiceovers on the footage, rather than treating his driver's seat as his studio with him as the presenter. But I suspect he fancies himself a bit too much for that.