You could try using mantras similar to an MILD. Just instead of using one like "I will become lucid tonight" use one like, "My dreams will be vivid tonight." Granted you could always combine so you would be saying to yourself, "I will have vivid, lucid dreams" or something similar. Just pick a mantra that suits you best.

There's also various outside resources you could use such as lucid aids. I believe certain juices help to increase vividness such as apple/orange juice (not quite sure) and I think I remember hearing that chocolate or bananas were good for vivid dreams, though I could be completely wrong. Drinking a glass of apple juice and eating a banana never hurt though