A so-called ghost bike has been left at the scene of the collision on Clifton Street.
There are three such bikes in Belfast, marking where cyclists have died in recent years.
The so-called ghost bike was created by cyclist John Wright, who attended the inquest.
Afterwards he said he hoped it would be the last death of a cyclist in Belfast.
“The whole incident should be a learning experience for everyone including the Department for Infrastructure,” he said.
“It (cycling) is the most efficient form of transport. It should be a critical part of our roads culture and our roads planning that cyclists should have some form of priority on the roads.”
Also at the inquest was Anne Madden from the Walk Wheel Cycle Trust, previously known as Sustrans.
She sent her sympathy to family of Mr McMahon and called for urgent action to be taken at Clifton Street.
“It’s not safe for people walking or cycling,” she said.
The Department for Infrastructure has been contacted for comment.