You did RCs and realized you were dreaming - that was lucid dream, congrats!
Make sure you do stabilization next time, also say "clarity now" or anything you think would help, it does help big deal with dream being vivid, crisp and awesome.
I don't think you should worry about not getting that euphoric feeling, it doesn't matter - I had lucids where I went "oh, I'm dreaming...whatever" and had a couple where this excitement screwed the whole thing making me wake up. So, I think, it's going to be different each time.