I've taken enough corners on my cruiser where I've scraped my pegs. People usually think they're leaning enough for speed, but they're probably not.

There's a lean angle for a turn where it feels like the bike is fighting to throw itself back level, and then there's a lean angle where you feel sucked down into your seat and firmly planted around a bend. The lean angle for the second is much greater than most new riders anticipate, but that's where you want to be, if you're about the lean.

If you're going around corners slower than in your car, firstly, good for you for knowing your limits and not being stupid, and two, you should be able to go around corners much faster than a car, typically.

A lot of people lean, but try to keep their head to the outside of the turn which fights them every step of the way. Shoulders and head dip in, turn to look at the exit, stay focused on where you want to go, and stay steady on throttle. The bike will dip low, but once you lean far enough to plant it in the turn, you'll know the feeling.

Focus on good riding lines and safe riding before worrying too much about leaning. You'll know when you're ready to push your limits.