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I started out letting the clutch out for each downshift, but quickly found it better to just keep the clutch in and shift down through the box as the bike slows (it's not much of a coaster). If I need to go somewhere, I just let the clutch out. Practicing my coastdown/downshift technique makes rev matching in this situation very easy.
I've also driven manual cars for years so,as Flashmonkey said, this helps. Also, instead of thinking, "I want to be in third for this corner", I think, "I want to drop two gears for this next corner." It comes with practice.
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