Yeah, non-lucid dreams about actions that one would do when lucid is indeed a sign of getting closer, and they can be turned into lucid dreams as well.
Though it's possible to be lucid without feeling body, i had lucid dream where i became lucid during 'cutscene' and was kinda just like floating viewing point, if you feel like you weren't really aware though then it was non-lucid then.

*Moved to Attaining Lucidity*