PICUS hours cannot be logged with an Instructor sitting next to you. only on the successful completion of a flight test with an examiner can it be logged.
There is a type of PIC which can be logged with an instructor on board but that's only available on integrated courses and those that can log that will be told about it.
And when a regulation stipulates PIC they won't accept any other form of PIC. If a percentage of the total can be the other forms of PIC it will say so.