Yep, I disagreed, especially for that play.
And while don't let RJB drive left might sound facile, it should be the scouting report as Clyde correctly notes and defenders should take appropriate positioning.
When I'm playing 4 on 4 halfcourt and guarding a quicker guy with a good handle along the side, I'm going to deny baseline (especially the right, dominant-hand baseline). In my mind is: F* you, you are not going baseline against me. And for me, it's easier playing defense if you have general rules (such as Clyde's) ingrained in your head, as you know already what you want to accomplish and how to go about it. Such mental preparation cuts down on thinking in the moment and allows for more reaction and readiness.
Clyde does a terrific job of boiling down basketball to simple rules.
Which are very useful when internalized.
1. See the ball, see your man (at the same time)
2. Stay down on D, don't go up for fakes
3. Don't leave your feet to make a pass
4. You play defense with your feet, not your hands
(mainly, I would add -- basically Clyde is saying the main focus of defense is stay in front of your man, and when he gets past you is when you tend to reach and foul)
5. If there's a double-team, a man is open
6. Box out (usually Clyde laments that boxing out is a lost art)
7. Keep your head up when dribbling
8. force the guy to his weakness (outside shooting; driving right, etc)
...
feel free to add more
One thing I try to drill myself is to be doing something useful on every offensive possession, during the entire possession as much as possible. Whether it's spacing the floor, moving the ball, setting a screen, cutting to get open or draw a defender, positioning for a rebound, moving to an open spot, etc.
Maybe as a rule: do something productive at all times, don't spectate or just stand around uninvolved. Now that can involve standing still if you are ready for a catch and shoot and/or keeping a defender occupied to space the floor. But you should knowingly be doing something beneficial for your team at all times, not just be out there on the court. It forces you to ask yourself, what am I doing? what should I be doing?