If getting stuck in your opponent’s guard is a problem for you (or even if it’s not), here’s some great advice from a great submission grappler and pro cage fighter.
BTW, pay close attention to what James says at 00:54 of the video. I think it may change your perspective on side control a bit!
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Here’s the steps (shown after James’ explanation):
1- Pop opponents’ right shoulder with your right hand
2-Simultaneously, push down his right leg with your left hand
3-Step to the left
4-Kneel on top of opponents right leg to trap it