Bottom line - over-thinking-it
For all practical purposes ... there is no delay. You move cyclic, helicopter responds before you even start thinking "Wonder when it's going to respond". In other words ... I can think of no instance where you'd wonder if the input was enough and start another input before feeling the reaction of the first input.
Just fly and stop over-thinking it. The movement (even with infinitesimal delays) becomes "natural" to you.