Changing chords need not be uncomfortable if we work within the limitations of the way the hand works. The rule in the video doesn't apply to all chord changes though, but where it can be applied, it should help.
Over the years I've developed techniques and picked up some gems from influential teachers such as Craig Ogden, Manus Noble and Gary Ryan that can make playing so much more pleasurable, snippets that can help make the seemingly unachievable, achievable.
My general approach to good technique is one based on relaxed posture and focused effort. The reason we work on technique is to allow the music to be freed from the score and expressed by the guitarist with ease and confidence.
Lots of students have asked if I could record the exercises we regularly use and this blog is the result.