But the thing is it's the same. If in the dream you realize or understand that you're dreaming then it's lucid dream. But if you, for example say "wow, it's a dream", but you don't understand that, only say it, then it's not lucid dream. Well, as I understand that.
Or you can know that it's a dream, but have no control even over your own actions - you can feel like a doll in someone's hands.
Also, there are different levels of lucidity. For example you understand it's a dream, you are lucid and you have some or even full dream control, but you still are not the same as in waking life - sometimes dumber copy of yourself, sometimes just different. You are still lucid, but when you wake up from that lucid dream you realize that some of your actions still not logical enough...like that. I don't know if that makes sense X)