Yes you are doing it without realising it.
Counter steering is all about overcoming gyroscopic precession, which is what your bike's wheels are indulging in when they are rotating.
We've all seen them, gyroscopes that is, they spin away balancing perfectly, and it is very difficult to tilt them once they are rotating - try holding a spinning bicycle wheel by it's axle and see how hard it is to tilt it.
This is one of the scientific 'laws' that keeps you bike upright and balanced once it is moving - two dirty great gyroscopes spinning away at each end of the bike. This is all very nice in a straight line but how do you overcome this natural upright tendency when you want to corner? Easy, countersteering.
You're approaching a nice left hander and your Yamahonduki is bowling merrily along in a straight line with no real inclination to deviate from it. Push gently on the LEFT handle bar (left hander so push left) and the bike will tip over to the left and pitch into the corner. Then relax, don't keep pushing once tipped, and the bike will track round on it's new course just like it did when upright 'cos those gyroscope's are balanced again. Yeah it sounds dumb, you're turning the bars to the right and turning left

Dumber still, if you need to go in deeper, then turn the bars more to the right and it will pitch more to the left. Then to lift the bike out of the corner, yep you guessed it, do the dumbest thing you can think of and turn the bars to the left and hey presto, up comes the bike.
Ok, so how does doing something so alien to what you think you should be doing, work then?
When you push that left bar you upset the gyroscope that is your bikes front wheel and break the balancing act. The wheel turns slightly right and the bike tries to follow it but, due to momentum and gravity, it falls to the left. This is also why the faster you are going the more pronounced the effect. It's like when you turn to the right in a car, it rolls to the left. Go back to your feet up 180 of the CBT. Even at those slow speeds you move your weight to the inside of the turn to counterbalance the bikes tendency to fall the other way - get the idea? With countersteering you use this tendency to your advantage and make it work for you.
Now you know how those Superbike racers flick through those 'S' bends so damn quick - it's awesome to watch but even more awesome to do it yourself