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Your bike will turn much tighter when it's leaned to the inside. Try straddling your machine, leaning it to the outside (on full lock) and rolling it. Then try it leaning to the inside. See how much tighter it turns!
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The correct position for a turn is with the bike leaned to the inside, and your weight on the outside peg. Your legs should be wide enough to allow the bike to move freely between them. Have your weight neutral and avoid putting too much weight over the front of the machine.
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Pivot your whole body on the pegs, bringing your hips around, and aligning your shoulders with the bars. This position may feel strange at first, but will help the turn, and allow you to concentrate fully on any upcoming obstacles.
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