There is a guide here by CosmicIron that talks about stabilization and stuff. But basically I'm just using from his guide one stabilization technique he uses. If you start crawling on the floor, you use basically your whole body to do this, which in turn stabilizes the dream. Or Mzzkc suggests in one of his tutorials, is to take a bite out of a tree. Literally. I've done this once, only it was just a twig. Didn't do much, though. You experiment to see what will happen with those two methods. 
Oh and, what you said happens to me too. I get lucid and usually forget about it. :/ Seems like I'm not aware enough to actually remember I'm lucid and to go do awesome stuff!
Good luck!
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