a lucid dream is where youre half asleep half awake. i do this almost every night and so does my boyfriend. its that feeling thats usually falling then you jerk yourself and wake up. i think youre talking about dream recall. the biggest thing about lucid dreaming is that you realize that youre dreaming. if all youre doing is remembering a dream, then its not really a lucid dream.
if you want to have more lucid dreams try keeping a dream journal. the second you wake up, dont even more your arms and legs yet, replay the dream in your head to remember what happened. even the slightest body movement can distract you and make you lose that memory. so record them for a while and you will probably have more lucid dreams. the second most commong action in a lucid dream is sex, the first is flying, so looks like you got 1 down. there are other things you can do that can eventually make it so that you can control your dreams. but thats not an easy task and takes years of training.