Actually being aware of that you're dreaming is being lucid no matter how bad the awareness is.
The problem was probaby bad stability, low lucidity, low control and stuff.. with practice these stuff get better and you can also increase the vividness and stuff by different techniques, using your senses.

I tend to have much better dream recall and lucidity when going to sleep without being tired like going to sleep early, it just keeps you more aware during the night and you can remember things better.