Two steps to always remember your goals (I struggled with this, but I am getting better).

1) Your main goal when you get lucid is to slow down. Always.

2) You should only have one goal that you can pull up at any time throughout the day. If you cannot remember it in a hectic moment of the day, you won't remember it in a dream. Always be thinking "If I got lucid here. I would slow down, summon Fryingman and kick his butt in a lightsaber duel."