You don't have to countersteer

to turn on a bike. When you are riding straight you are using a combination of balance and handlebar position to adjust the angle of the bike so it is directly between you and the ground. If you fail to do this you fall over.

Is counter steering necessary?

At low speeds countersteering is equally necessary, but the countersteering is then so subtle that it is hidden by the continuous corrections that are made in balancing the bike, often falling below a just noticeable difference or threshold of perception of the rider.

When should you counter steer?

Much like on a bicycle, at very low speeds you just turn the handlebars in the direction you want to go. It's only above about 10 mph where countersteering becomes necessary. Basically, motorcycle riders countersteer because going around corners requires leaning, Bennetts explains.