"How do I get to Carnegie Hall?"
Practice Practice Practice..... not trying to be smart, but I too had the same problem but it definitely got better, the more I rode. I ALWAYS look forward and up. Before stopping though, look down at the road to make sure you are not stopping on oil or gravel.
NEVER turn the wheel as you stop. Intersections are the worst. It is so easy to try to slow down and turn the wheel, thinking you'll be able to keep moving and then you have to stop. DONT !! I am sure there are exceptions but these are in general. I also find that it works to slow down to a stop, most of the time with my rear brake. I know that many use their front brake, but it does not work for me, as the front shock will not compress and absorb the momentum.
12 K1600 GTL
02 K1200 LT (gone but not forgotten)