You don't need to shuffle your weight around on the bike. Hanging off the bike means that you can lean the bike less - while this is OK on the race track, its hardly necessary on a road bike.
In fact will such only cause disturbance to a motorcycle like the ST (yep, we've tried all kinds of stupid things and stunts on those rigs over the years ;-) )
Change position of the torso towards the vertical axis of the bike will somewhat help moving the CG out/inward where needed...
Like during low speed, really
narrow cornering (U-turn on a 2 lane road or parking lot, narrow switchbacks, etc...) where you leave your torso vertical and tilt only the bike below you.
In neutral speed turns your torso stays in a relaxed seating position, aligned with the bike's axis.
In really quick corners one might start to tilt the torso inward, so your head is in the line of inner handle/rear-view.
All those works fine on the outward curved OEM seat of the 1100, not so much with a pan shaped Corbin saddle (which is why I quickly got rid of it again ;-) YMMV though...)
And what cannot be repeated often enough: loosen up your neck!
Always tilt your head to keep the eyes vertical with the deck/horizon, while looking well ahead into the turn,
essential for proper control of the leaning angle; fail to do so and every corner/line
will end up wobbly like an octagon...
Another thing: smoothness... especially with such heavy rigs as ours.
All hard and sudden load changes with brakes, throttle, clutch, upset the suspension... front diving in, bouncing back out, CG of bike changing, etc...
Learn to go "analogue", grabbing the brakes softly, letting them go softly, pre-load the drive train slightly while still on the brakes, accelerate gently throughout the turn; if you have to shift, again gentle on clutch and throttle.
Not only is a fully settled, undisturbed suspension, therefore properly planted bike improving confidence and cornering speed, a smoother ride will cut down parts wear, thus lower service bills, it'll also make the pillion happier and more likely to join riding again in the future... ;-)