FWIW I'm acutely aware of the damage HGV's are capable of,as I suppose most cyclists and indeed most road users are,I also try to help other quicker road users as much as I can in the same way you indicate.
My encounters/interactions with HGV drivers is overwhelmingly positive,if I do have bad encounters with drivers of bigger vehicles it's usually,in ascending order of bad driving either stupidly or deliberately are cars,vans in various <35cwt,4x4's,7.5tonners,buses,HGV's.Which could be in proportion,excepting 4x4's,numbers on the road.
That's my experience which I can only relate.
That said,Monday before last I had what I can honestly say was a rare encounter with a HGV,a 10ton(?)box van,which on a clear wide empty road,came out of a side road opposite on my right,an entrance of an industrial estate with wide radii good site lines,there was no way he didn't see me as I made eye contact.
It didn't stop him almost taking me out with his nearside front corner,I was close evough to bang on his nearside door.I then accelerated and sat in front of him in primary for around 500m,by which time the TL up the road had changed and there was a stream of traffic coming the opposite way preventing his o/take.
I'd decided he'd have to drive over me to get past,I think the term is 'I was steaming'

.
On seeing the oncoming traffic clearing I moved over and let him go.He gave me plenty of room on the o/take and the TL changed to green so I didn't get chance to ''have a word''.
I'm convinced it was a deliberate 'get out of my way,I'm bigger than you,you mean nothing to me' attitude.
That sort of encounter with HGV's is extremely rare IME,I'm more likely to experience the kind of encounter you mention in your OP.