I too kick the inside's of my legs while on runs, at least sometimes... I don't nessesarily think its bad for you, or means bad form, but just don't get in a habit of doing it too often (esp. in races) because then it will become awkward, hard to correct, and may even slow you down.
also, the constant motion of my arms moving back and forth sometimes makes me want to straighten out my arm or lock my elbows if you will... This was quite humorous to my training buddies, ar least on long runs, they would say- yeah there goes another arm drop by Greg, or Clear!
I have stopped doing it because too much will cause pain in your elbows, its just another habit, but don't let it get out of control or hamper your training, or most importantly, races.