Rubbing the pegs off although better than crossing the line still means you entered the corner wrong, the bike has two points of contact with the road when a third comes into play bad things can happen
when someone says did you hear me scrapping through the corner I usually say try taking it correctly the next time
Now have we all scrapped now and then? yes we have but if you are scrapping all the time hmmmmmm
talking about lean angle in most cases the bike is capable of more than the rider, when leaning into a corner each person has a point of comfort after that the brain tells you the wrong things to do like, roll off the throttle, apply the brakes(trail braking if performed correctly can really help in the corners) all of which stands the bike up and over the line you go.