Well to a degree you were falling I suppose, very slightly. This part comes with practice and balance hence my question about cycling.
The delicate aspect of balance is minor adjustment despite it feeling like your past the point of no return. This obviously depends on ability and experience wether that's on a bicycle or motorbike.
I don't know if your familiar with the film Taladaga Nights? It sounds like you need a little more "stupid cowboy"
It is indeed easier said than done but at some point the doing needs to be done.
Your a young guy, throw caution to the wind, jump on that scootay, humm a stupid song to yourself and embrace the joys of full throttle, whizzing round on one of the most mellow machines you could possibly ride.