What's a criterium?

[OakLeaf]

I might suggest something a little more unorthodox to develop cornering skills...

If you don't ride a motorcycle already, look into a motorcycle safety class. (And if you do ride a motorcycle, but haven't taken the safety class, DEFINITELY do. ) You don't say where you are, but many states subsidize the classes (in other states, it might be a rather expensive option though). The beginner class is always done on the school's small bikes, and they have helmets to lend if you need one.

Bicycles are so light, have such skinny tires, and can be comfortably ridden so slowly that many bicyclists never learn how a two-wheeled vehicle actually turns (by leaning, and by turning the handlebars very slightly in the direction away from the turn to initiate the lean).

The motorcycle safety class will teach you how to countersteer and how to look through turns, with enough repetition and positive reinforcement that you should carry the lessons away from the weekend and in fact continue to learn from your own practicing.

I quit racing bicycles before I learned to ride a moto, but I'm made aware almost every ride that I'm a much, much better bicyclist because I ride a motorcycle.

(The only thing that will be very different between a bici and a moto - and it's an important difference - is body weighting. Even with a very light motorcycle, your body weight is a MUCH lower proportion of the package than on a bici, making your center of gravity much higher on the bici. On a moto you'll weight the inside foot; on a bici you'll weight the outside foot and use the outside knee as your shock absorber to keep your rear wheel on the ground.)