But, once the bike starts to lift and right itself, won't that change the couple on the wheel so it steers out? I am confused.It doesn't. It just says that there is more to it, and that there are others ways to achieve self stability.
Sounds like you simply don't understand the "gyro theory" here. The precession is not supposed to bring the bike upright directly, it merely turns the front wheel into the direction in which the wheel falls over.