Just to add to what has already been stated, just push the handlebar, and let the bike take care of the leaning. Just don't fight it, and it will do the right thing, in spite of whatever you think it should do. Look as far down the road or around the curve as you can see, and steer the bike. It will do the rest, and if you just go with the flow, you will lean with it whether you realize it or not.
Look where you want to go, and you will go where you look. But that also implies, that if you look at the ditch or the danger, you will run into the ditch or into the danger, every time.
Regarding scraping the pegs, forget about it as it is just a mental distraction. You will never get there until you are aggressively and intentionally overdriving the curves. The Rebel pegs do fold up to a degree, and let you know when they begin to scrape if you ever get to that point. This gives you some warning that you are pushing the limit. If you intentionally push the limit past the warning, or find yourself in a situation you misjudged, and have to scrape the peg in order to get out of it, the peg will eventually run out of fold up room, or hit the passenger pegs, and lift the rear tire when it becomes a pivot. I have experienced this many times on many different bikes while aggressively riding the twisties like the Tail of The Dragon. It is a bit disconcerting the first time you experience it, and can easily cause you to wreck if you panic. However if you have given yourself room between you and the edge of the road, the result is that the rear of the bike will jump sideways a couple of feet and give you a much better angle to negotiate the curve from. It allows you to complete the curve with less lean than you originally needed, as long as you are prepared, don't panic, and continue to ride your bike around the corner and out of danger. Then you can stop and throw away your underwear.