Pedalling comes naturally, for the most part. But there are things you can do to make your pedal stroke more efficient.
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Professional cyclists rarely think consciously about pedalling in circles, and neither should you – your natural pedal stroke is probably the best.
Where the pros have the edge is a well-developed flexibility, allowing their muscles to move freely through the full pedalling range. Regular stretching will go some way to giving you that flexibility too.
Cadence drills can help maintain your efficiency even when churning up hills, and even thinking about saving energy by keeping your upper body steady will help in the long run.