Not sure, but this is what I think :
MILD is a technique, in which you use reality checks, daytime awareness and mantras. Mantras are another word for affirmations or autosuggestion, in my opinion. In all of them you let your mind know what you would like to happen and you also reassure yourself about the same.
I would recommend not using future tens in any of these affirmations/mantras/ autosuggestions. Our mind interprets 'I will' as anytime in the future, just not know. Only time that exists for our mind is 'now'. At least in this context.
If there is any difference between the names, I'm not sure it makes a huge difference for lucid dreaming purposes.
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