I cycle every day in the evening to go to the gym for about 4 miles. I generally find car drivers behave properly towards cyclists if cyclists behave properly on the roads i.e. stop for red lights, don't kamikaze junctions and roundabouts and don't behave like a twat. I always stop for red lights as they don't cause my journey to be massively longer and I don't want to get ploughed down by oncoming traffic. Where cycle boxes are concerned, again, I use them properly, and when I move off, I immediately pull over to the left hand side of the road as quickly and as safely as possible to let cars pass me.
Where the above is concerned, I don't see how the Audi has a leg to stand on. The cycle box is there for cyclists to use legally. I'm fairly sure that entering a cycle box is a fine and also 3 points on your licence if driving a motor vehicle (including scooters and motorbikes). The road looks quite narrow so pretty unsafe for an overtake and it's not as if it made a fuckload more progress as at the next set of lights they were no further than the cyclists. The fact that the Audi driver took offense at the cyclists bunching up in a cycle box is neither here nor there; his journey isn't more important than anyone elses and shouldn't have entered the box nor tried to cut them all up just to get ahead. He could've waited an extra 10 or 20 seconds and overtake further up the road.
It's also amusing when cyclists in some cases can actually accelerate from standstill faster than some cars do.