As a beginner most of my lucid dreams were blurry. In fact the moment I realised I was dreaming it seemed like all the light and colour became drained from the scene. I never understood the whole "more real than real life" phenomenon that people spoke about. A big problem I've always had is stabilizing and for a very long time I didn't know anything about stabilizing. I'd just get lucid and think "oh my god I'm dreaming. What do I wanna do?!" and I'd be so wrapped up in that the dream would rapidly collapse.

With more experience and a better understanding of how to stabilize (the tutorial Checker666 has linked you to is good) then yes, dreams do become more real over time. I'd be lying if I said I didn't get blurry lucids from time to time but the majority now are very real.