Thats correct, you just learn and then let it become an habit.
Also yes, if gravity is normal it won't make you lucid; like any other RC it won't work when its the same as in the waking world, it also fails for me every once in a while so its not fail proof.
And I make it part of my interaction with people by using it on my whole body, as if it were my "essence" talking/interacting with others.