How to turn Hypnagogia into a lucid dream?

I've had hypnagogia twice and got scared and pussied out both times, also narrowly avoiding an SP nightmare on one of them.

First, I hear a voice whisper something (For my first one, the person repeatedly whispered to me "(my name), meet me in the salad"), and then I feel a massive vibration throughout my body. Next, the voice gets louder and louder and my vision gets more and more vivid even though my eyes are closed- but I don't see anything besides shapes. Then, the voice gets louder and I get scared and then pussy out at this point usually.

What can I do to turn this into a lucid dream?

Once I feel the vibrations or start hearing the voices, what can I do to take this away from hypnagogia into a lucid dream?

Let the dream form by focusing on it or imaging something. Then, once you feel the dream scene is formed enough, you can enter it.

https://www.youtube.com/watch?v=VSk95v3wLDw

I listen to that now (stumbled on it about a week ago) for some time as I'm falling asleep and it addresses SP like about 20-30 mins in. You may just have to experience it enough times before your brain knows that you are fine and that it's actually a positive to help you enter into a dream... but hearing through audio with the relaxing music that yes it could happen but you will be fine might help too. I have been dreaming more since I started listening to this too.