Your sleeping position has absolutely nothing to do with attaining lucidity, unless you're in an uncomfortable position - in that case, if you're trying to WILD it will be next to impossible to relax. Personally, I sleep on my side and stomach because I can't stand being on my back - and I've had all my lucids in those two positions. I always enter SP on my side. As for control, any position. Once you're in the dream, you won't be aware of what position you're in anyways, because you're feeling your dream body. How much control you exhibit in a dream is all in your mind, and how confident you are that something will happen (along with how strongly you can visualize that particular thing happening).
When trying to get to SP, swallow, especially if not trying to swallow is stressing you out. The goal of a WILD is to relax to the point where you're bordering unconsciousness, but not quite. You're essentially running along that line until you get to SP, and even then, you're just passively observing the formation of a dream that will eventually surround you (or put you into a false awakening). If anything is bothering you, fix it or ignore it. For many people, spit pooling up in their mouth is next to impossible to ignore without swallowing, so they just swallow. If you don't think much of it, you'll still get to SP.
Swallowing seems to mostly be an issue for people lying on their back. Since positions aren't an issue, try going on your side or stomach - that way, your saliva will go down your throat in a more natural way and not pool. If you have your head at an angle more towards the pillow, it might even come out your mouth. Kinda gross, but that's how I go about my WILD attempts. You can always put a soft towel there or something if you don't want it all in your pillow. 
If you have any other questions, don't hesitate to ask!
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