No disrespect to your instructor but that is a habit you will have to unlearn if you ever fly for an airline.

Otherwise each time you make a turn leading with rudder everyone in the back of the plane will spill their drinks or become violently ill.

Airliners and corporate jets use a yaw damper and usually have roll spoilers which allow you to bank without inducing adverse yaw so the rudder pedals are basically foot rests in flight unless an engine fails.