I experienced this a lot. I would recall goals and tasks, but would much rather focus on something else while lucid. The thing is, unless we have a high level of lucidity and deeper access to our waking memories, we're not entirely ourselves. Our life experiences and memories play a huge role in determining how we react to certain situations and think. So, unless you have high-level of lucidity and clarity of memory you can't fully behave like you would in waking. However, you don't have to sync up that much to do goals and tasks. Just have remember enough to give them more priority.