Welcome! First of all it sounds like you're off to a great start with the Peloton. I'm not a trainer, but from what I know I would say yes, you have the right idea with modifying and "cheating" when you're not able to do a stretch as designed. Modifying can include using an exercise band or towel to help you or holding onto something vs. needing to balance yourself. This article seems to have some good tips Tips to PR? Definitely don't push yourself ot the point of pain and just keep at it and you will improve.
Another thing I would recommend is making sure to do cool down rides (preferably 10 minutes) after your hard rides to get your heart rate down a bit before you stretch. I would also only stretch after your workout when your warmed up vs. before when your body is cold.
Another thing I would recommend is making sure to do cool down rides (preferably 10 minutes) after your hard rides to get your heart rate down a bit before you stretch. I would also only stretch after your workout when your warmed up vs. before when your body is cold.