If it is safe to make a right turn on a red light (no traffic approaching, no pedestrians crossing, etc.) and there is no one behind you waiting to turn, then no; you don’t have to turn.
If it is safe to make a right turn on a red light (no traffic approaching, no pedestrians crossing, etc.) and there is someone behind you who wants to turn and you refuse to go, then you are obstructing traffic and could be issued a citiation.
If you were driving 45 mph on the freeway, in good driving conditions and with no traffic, and you’re not holding anyone up, then there’s no problem; but I’ve seen people driving 45 mph on the freeway who were holding up traffic who were pulled over by the Highway Patrol.
I don’t think you were inconsiderate in this case since the truck was not turning; but it would be very inconsiderate to not proceed if someone is waiting behind you to turn.
There is a right turn I need to make to go to work. If the light is red and I make the turn, chances are I will make the next light (a left). If I’m unable to make the right turn, then I’ll probably miss the light for the left turn. The problem I run into constantly is that people don’t understand that they must turn right into the right-most lane. Since there are two lanes in the crossing direction before the light and three lanes after the light, the right lane is always free unless someone changes lanes in the middle of the intesection (not often; mostly busses when it happens). But people want to turn into the left or centre lane (which isn’t legal) instead of the right lane, so I have to wait. I miss the next light, and often the one after that.
So if someone is waiting to turn behind you and you do not proceed, you might be causing the person more delays than just that one light. And people can be very impatient when they’re late for work, their bladders are bursting, they’re sick, their kids will be late getting to school, they have explosive diarhea, they’ve just revceived a call that a loved one has been in an accident and they are trying to get to the hospital before the person snuffs it, or any of a number of things that you have no inkling of.
Sometimes people have reasons to be in a hurry. The considerate thing to do would be to make the turn.