People are different when it comes to hypnagogic imagery.
Some people experience it very easily, while other people need to practice it for some time before they notice anything.
Anyway, you will need to practice your ability to remain aware while you are about to fall asleep - this can take a few tries, and you might have to keep trying for a couple of weeks or possibly months before you really get the hang of it, but you WILL eventually improve if you stick with it. 
Also, the arguably best time to experience hypnagogic imagery is after you have woken up during the night or in the early morning, because at that point you will get back into the REM stage much faster, and you will also be naturally relaxed at that point;
that's why people tend to recommend using techniques like WILD and DEILD after brief awakenings.
You should also keep in mind that even if you don't succeed with a WILD attempt, it has still made you remain focused on the goal to become lucid - so the way I see it, WILD can sort of work a bit like MILD in that regard.
In fact, I think that you should check out MILD as well, because it is a very deep and powerful technique that can be a great aid for pretty much any other technique.
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