Around here it's generally solved by having separate traffic lights for cars, pedestrians and the bike lane, and having some extra time every cycle of lights where it's red for bikes and pedestrians but green for cars to enable those turns.

E.g. this shot in google maps - https://www.google.lv/maps/@56.9578862,24.1189538,3a,75y,240... ; it's green for cars, but red for the bike lane on the right side.