Hi and welcome to Dream Views.
I think you hit on the core of most of our intentions with lucid dreaming, greater length, lucidity, frequency and control. All of those will come with practice, each improving over time.
Any questions or discussions you start will undoubtedly be met with a response. This place is filled with people willing to help and chat about dreams.
If you haven't one yet it's advisable to start a dream journal, be it here on site or simply a book and pen bedside. If you're interested in starting a journal here check out the Dream Journals section.
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