It's London, it's close pass central. I put up with passes like that every day on my commute.
However, other cyclists may not feel the same as me when it comes to what is or what is not a close pass.
I myself wouldn't ride that close to the kerb, it just invites the pass.
If you feel it was too close then report it.
It's close but the cyclists doesn't seem bothered, he is probably used to such passes, if he rode further from the kerb it may not have happened, but he could be deliberately riding there to let traffic pass and is not fazed by the closeness.
Looks fine to me. Don't go reviewing footage unless you really need to, otherwise you'll turn into one of those camera loons that get's upset about everything. Won't do your health any good. Leave it there if/until something happens.