Unless there's no space, or a cop car sitting at the lights I always filter past waiting cars & find neutral just before I brake to a halt. Then I look for adjacent lights to watch them change - engage first, look left and right & make sure there's nothing coming - and get away from the lights as soon as I can once they change. It's rare that I find myself sandwiched between cars at lights.
I don't often keep it in gear unless I can see from adjacent lights that mine are about to go green, in which case I coast and time it to be able to let the clutch out and go when it's green, having made sure there's nothing coming across the road. I don't tend to stop in front of cars, but slightly to the side of them, having filtered past whilst they waited.
Euro RC51 SP2: HRC WSB Ti Hi-Level, T1 Airbox & Snorkel, PCIII, Dymag CA5 Carbon Wheels, Ti64 Spindles (F, R & Swing Arm), Mori Link, Maxton GP7 Shock & Ohlins 832 Forks, Brembo GP Calipers & SBK narrow track (F), Braketech Disc (R), Brembo billet Underslung x 2 Brembo RCS, Tyga Triple, 7075 Stem, Probolt Titanium all over, Babyface rearsets, MR Complete Carbon Lineup, Custom Undertail & CBR 1000 LED, Watsen LED Indicators, Harris Brace, Giles clip-ons, Corbin seat, etc. 2013 BOTY.