The best way to become a more skilled motorcyclist is to:

Attending more training classes is the most effective way to become a more skilled motorcyclist because formal training provides structured learning environments where experienced instructors teach vital skills and techniques. These classes typically cover important topics such as safe riding practices, emergency maneuvers, and bike handling skills, which are essential for both novice and experienced riders. This hands-on training allows riders to practice skills in a controlled environment, receive immediate feedback, and learn the best practices for various riding scenarios.

While taking long trips can develop comfort and familiarity with riding, it may not teach specific skills or improve safety techniques. Observing friends may provide some insights, but it lacks the formal instruction necessary to build foundational skills. Watching YouTube videos can offer tips and advice, but it's not a substitute for practical, hands-on experience that professional training provides. Thus, attending more training classes is the best choice for skill enhancement and overall safety on the road.