I'm not sure how this works in the UK, but over here in the Netherlands we have cyclists everywhere and a lot less drama. Here it's OK to stop on a bike lane and to merge onto it when turning right, but not to park on it. Merging means you give way to bikes first, then drive between them. And the other way around, if the bike lane is blocked, bikes merge into the car lane and cars drive behind them.

Consider it a two lane road, where you give way when you merge into the other lane and you slow down behind slower traffic that's in your lane. Except that when both lanes are available each type of traffic prefers "their" lane due to the speed difference.

That speed difference is decreasing in the bigger cities recently. Ebikes drive 25 km/h and many shared streets are reducing from 50 to 30 km/h for cars. It probably helps that a lot of the bigger streets aren't shared, there are many separated bike lanes here.