Part 107 UAS pilot reported flying in controlled airspace without authorization.

Narrative

Earlier today at approximately XA:45 local time; I was flying a small UAS for the purposes of filming my company's office building for company promotional material. I inadvertently flew in the SFO Class B airspace and over a busy highway without receiving prior authorization from Air Traffic Control. This oversight was due to impulsivity and a misconception about airspace regulations; leading me to believe that a low-altitude line-of-sight flight was permissible without prior authorization at this distance from the airport. Impulsivity contributed because I did not properly check regulations and airspace boundaries before initiating the flight.To improve my knowledge of airspace regulations and operation of unmanned aircraft systems; I have completed the FAA Part 107 Small UAS Recurrent Training. I have also scheduled a 1-hour ground session with my CFI to go over safe operations of UAS near complex airspace. In addition; I have ensured that all of my required registration documentation is up-to-date and located in the case of my UAS. I have also labeled my UAS with the FAA-issued registration number; in compliance with regulations.For any future flights near controlled airspace; I will request authorization well in advance through Aloft Air Control's 'Further Coordination' tool.