The best way to learn is to go through the safety course. You get your bike license at the end of the course also, which is nice.
Having said that, I bought a '90 Katana 600 in '94 and just started riding. A couple close calls. Moved up to a 99 Ninja 600. Then a Honda 919. Then, had enough of going so fast, and got a 1500 Mean Streak.
I can't imagine learning on today's 600 class bikes.