That was not sleep paralysis. Just a dream.

If you don't realize that you are dreaming while you are in the dream, then it's not a lucid dream.

Dreaming about RCs is a good sign though. It means, that you mind is paying attention to your practice and it's starting to show in your regular dreams.

But it's not RCs that get us lucid. It's the awareness. It's the daytime practice, when you suddenly think to yourself "oh wow, what if this is a dream" and for a moment you believe that you are in fact dreaming. Then this sensation and thinking will start happening in your dream and that will make you lucid.

Induction Methods and Techniques
http://www.dreamviews.com/wake-initi...mystified.html