Step 1 says the crankarms should approximately perpendicular to the frame. Try experimenting with angles between 45 to 135 degrees.
The kickup foot is actually applying torque to the frame which assists the dominant foot's weight and your momentum to the dominant side of the wheel causing the wheel to become vertical. The kickup foot alone, causes the frame to become vertical, since neither your momentum or your "pedal" foot can do it.
Place the balls of your foot half on the crank and half on the pedal because this way the crank doesn't grind against the side of your foot and ankle as you come up. Don't risk wrecking your ankle by trying to put the sole of the foot flat on the pedal. Keep your ankle stiff and the sole of the foot level and as the uni comes up your foot will slide off the crank & onto the pedal almost automatically.
As you step forward and swing the unicycle up, get your head over the point where the wheel touches the ground and keep it there. Let everything in between your head and the point of wheel contact (the frame, the seat, your butt, your spine) swing into a vertical line between these two points.
When you get proficient, learn to kick-up with the other foot too.
This is a really cool way to recover from falling off your unicycle and looks impressive to bystanders. Handy too if your hands are full.