1. It was indeed a lucid dream.
2. There are varying levels of lucidity and dream control, because it was your first you didn't fly successfully. You did have a lucid dream, but handled the awakening incorrectly (imho.) When you wake up you should immediately do at least 2 reality checks. IE, looking at your fingers, then the nearest timepiece, that way if it's false, you regain lucidity. Hope this helped.