Well the one's I have an anxiety over are the one's with a camera, because if you cross them when red you will be flashed etc.
I would just drive 'normally' as driving oddly tends to change the lights as most have sensors in the road to control them.
We are lucky here in that there are no camera mounted traffic light around here. The traffic flows don't warrant them. There are a few in Edinburgh and I am ultra careful with them! We do have a number of lights, between the main trunk road and our hospital A&E, that have aerials mounted on them. I believe it is so that emergency ambulances can set them to green as the approach. The few lights with filter lights are sometimes a good indication, though there use is variable as well.
The lights here are set for time, depending on the time of day, with sensors on the side roads, but only right at the junction. There are no advance sensors to check traffic approaching, unfortunately. So the main road gets two minutes green, unless a vehicle triggers the sensor on the side road, which then reduces the main road's green time.
I try moderate hypermiling techniques (I don't coast with the engine off or pump my tyres up brick hard), so maintaining inertia with minimum fuel use is fairly high on my agenda.
What I do do is switch the engine off, if I have to stop at a light which has just turned red. There is one light which, at 06:30, takes 3 minutes to change, irrespective of traffic flows. You can arrive as it turns to red, sit for your 3 minutes, and not another vehicle passes. We also have a few sets of four way lights that only allow one stream at a time to move. They are a nightmare, and best avoided all together.