Incident with HGV – advice please

This morning an HGV tipper truck passed me at <10mph with no more than 30cm gap. Traffic in front stopped moving and so he couldn't complete pass, stopping with the back of the cab adjacent to my front wheel. I shook my head (to myself) which he must have seen in wing mirror as he wound down the window. I motioned that he was too close and as the traffic had started moving again told him to drive on. He set off, pulling across to the left with the back of the wagon brushing my right shoulder and hand (dirt from truck on my glove to prove it).

I can't be sure that his action was deliberate (the road curves slightly to the left), but the incident has left me intimidated, shook up and wondering if commuting by bicycle really is a (safe) option.

I caught up with the truck later in stationary traffic while I was turning right onto a side road. I didn't engage with him until he again wound his window down. I told him I didn't want to hear whatever he was going to say, but he kept asking me if I'd ever driven an HGV and implied it my fault he was too close. Asked if he'd seen me he said yes.

I have both the reg plate and company - should I take it on the chin and put this down to experience (primary position for me from now on) or report to the company and the police?

Thanks.