In most of the US, there's no separate lights for cyclists.

Exactly. Which is why the light must have been red for the cars perpendicular to the cyclist if they light was yellow for the cyclist.

In any case, you're missing that the cyclist did the equivalent of coming from an adjacent lane to cut off cars next to him. No car can anticipate that, from a cyclist or from another car.

Yes you can? How else would you drive without getting in a wreck most days? That's happens to you at least on a weekly basis if you drive regularly here on the interstates. I've never hit them. Generally you can read when people want to get over if you pay attention. Cyclists are even easier to read since they're not in a box with tinted windows. I've had a few times I've hit my breaks before one has even turned their head to avoid collisions (on my bike) because I could tell they were gonna suddenly turn. I would say without warning, but given I could tell they were, that wouldn't be entirely accurate: they just gave no intentional signals and those not paying attention will easily miss the intent (unfortunately, the person right in front of me did collide with the person suddenly turning in front of them in one of those cases).

If you can't tell most of the time, you aren't paying attention.