From my uni course (B.Av) and club trip experience over the last couple of years the essential parts of CRM seem to be:
Sort it out on the ground before you even walk out to the plane - who is preflighting, filling up, looking after the fuel card, radios etc. Airlines have SOPs, we have conversations
Stick to the setup unless something really bad happens, and if the PF (PIC) isn't comfortable, the PNF should support their decision and make the resulting actions easier, not try and change the decision because it's not theirs to change
Sort it out on the ground first (has this been mentioned before?)
And most importantly, any flight with two pilots in the intercom system is a two pilot operation, you just have to sort out who gets to contribute how much of what (taking control in EFATO for example) on the ground first (not to labour the point or anything...
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Another fine thread
Safe flying
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Confident, cocky, lazy, dead.