It is very much like skiing. You should practice riding with your hands off the bars to increase your control of the bike in several ways. Always do these drills when there is no other traffic of any kind including bikes. The first technique is simply to practice riding on a straight line without your hands on the bars. When you become confident with this drill and feel well at home riding without your hands on the bars, lean slightly to let the bike arch a little.
Caution has to be used here because a pro bike turns so quickly.
This drill gives you a much better feel for the bike and improves your control with your body. I will do these drills until I can do big looping circles and gentle swerving without hands while remaining relaxed. I used to practice picking up objects. I developed a ball game from this that I played with one of my racing friends, Eric Vargas. We found a tennis ball in an empty parking lot.