CB's are always in a bad mood if not treated properly.
Get a proper antenna, mounted outside of your truck. Be it magnet mount or on a dedicated fixed mount. Get a good SWR reading before attempting to transmit. (the antenna needs to be tuned the right way with a meter, not by eyeballing it).
The cig lighter power is fine for your handheld.
Between the power adapter on the bottom and the antenna cable on top, you will find yourself quickly frustrated.
If you still have time, consider other options too.
For a handheld device, I would only consider a Baofeng (I know it's not a CB radio).
See Uniden 510/520 (as mentioned above) or Anyone Smart CB radio. This last one is very slim and it fits perfectly in the cubby hole above the radio. Riff Raff has some pictures of his install in his truck.
If I were to get a CB radio, that's the way I would go.
PS
All those 3 options are half the price of that Midland handheld.