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Pressing C cycles through them, you don't need to change the angle, keep your cursor hovered near the one you want and the one you can select will be names in the toolbar below and highlighted yellow like that yellow one in your picture. I do find if you have a bone already selected nearby it...

Did you know you can repeatedly press C to cycle through all the ones near your cursor, you will see them listed on the toolbar below and just click when you get to the one you want.